TY  - RPRT
TI  - Passivity/Lyapunov based controller design for trajectory tracking of flexible joint manipulators
AU  - Sicard, Pierre
AU  - Wen, John T.
AU  - Lanari, Leonardo
PY  - 1992
UR  - https://ntrs.nasa.gov/citations/19930007519
ID  - 19930007519
ER  -