On the dynamics of manipulators in space using the virtual manipulator approach. - Z. Vafa; Steven Dubowsky (ICRA, 1987)

Space manipulator motions with no satellite attitude disturbances. - Z. Vafa (ICRA, 1990)

The Kinematics and Dynamics of Space Manipulators: The Virtual Manipulator Approach. - Z. Vafa; Steven Dubowsky (Int. J. Robotics Res., 1990)