Victor F. Muñoz-Martínez Isabel García-Morales Jesus Morales-Rodriguez Jesús M. Gómez de Gabriel Jesús Fernández-Lozano Alfonso García-Cerezo Adaptive Cartesian Motion Control Approach for a Surgical Robotic Cameraman. 3069-3074 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1307528 db/conf/icra/icra2004-3.html#Munoz-MartinezGMGFG04