The class of robot manipulators with bounded Jacobian of the gravity vector. - Ruvinda Gunawardana; Fathi Ghorbel (ICRA, 1996)

On the boundedness of the Hessian of the potential energy of robot manipulators. - Ruvinda Gunawardana; Fathi Ghorbel (J. Field Robotics, 1999)

Modeling and set point control of closed-chain mechanisms: theory and experiment. - Fathi H. Ghorbel; Olivier Chételat; Ruvinda Gunawardana; Roland Longchamp (IEEE Trans. Control. Syst. Technol., 2000)