Roberto Lampariello Johann Heindl Ralf Koeppe Gerd Hirzinger Reactionless Control for two Manipulators Mounted on a Cable-Suspended Platform. 91-97 2006 IROS http://dx.doi.org/10.1109/IROS.2006.281777 conf/iros/2006 db/conf/iros/iros2006.html#LamparielloHKH06