Huabin Chen Tao Lin Shanben Chen Jifeng Wang Jianqiang Jia Hui Zhang Adaptive control on wire feeding in robot arc welding system. 119-122 2008 RAM http://dx.doi.org/10.1109/RAMECH.2008.4690868 conf/ram/2008 db/conf/ram/ram2008.html#ChenLCWJZ08