Manipulator Control Based on a Disturbance Observer in the Operational Space.

Kenji Kaneko Kiyoshi Komoriya Kouhei Ohnishi Kazuo Tanie Manipulator Control Based on a Disturbance Observer in the Operational Space. 902-909 1994 ICRA db/conf/icra/icra1994-2.html#KanekoKOT94