Development of a robot control test platform. - James K. Mills; Philip J. Baines; Thomas Chang; Steven Chew; Trevor Jones; Stephen Lam; Adi Rabadi (IEEE Robotics Autom. Mag., 1995)

Feedback Linearized Joint Torque Control of a Geared, DC Motor Driven Industrial Robot. - Philip J. Baines; James K. Mills (Int. J. Robotics Res., 1998)