Mehrdad R. Kermani Rajnikant V. Patel Mehrdad Moallem Active Vibration Control in a Macro-manipulator using Strengthened Piezoelectric Actuators. 5232-5237 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1302548 db/conf/icra/icra2004-5.html#KermaniPM04