Milind Ghanekar David W. L. Wang Glenn R. Heppler Scaling Laws for the Dynamics and Control of Flexible-Link Manipulators. 427-434 1999 conf/icra/1999 ICRA db/conf/icra/icra1999-1.html#GhanekarWH99 http://dx.doi.org/10.1109/ROBOT.1999.770015