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"Theory and Experiments in Selecting Mode Shapes for Two-Link Flexible Manipulators", Proceedings of the First International Symposium on Experimental Robotics, Montreal, Canada, June, 1989.
"Initial Experiments on the Control of a Two-Link Manipulator with a Very Flexible Forearm", Proceedings of the American Control Conference, Atlanta, GA, June, 1988.
"Anatomy of an Experimental Two-link Flexible Manipulator under End-point Control", Proceedings of the IEEE Conference on Decision and Control, Honolulu, HI, December, 1990.
"End-Point Control of a Two-Link Manipulator with a Very Flexible Forearm: Issues and Experiments", Proceedings of the American Control Conference, Pittsburg, PA, June, 1989.
"End-Point Controller Design For An Experimental Two-Link Flexible Manipulator Using Convex Optimization", Proceedings of the American Control Conference, San Diego, CA, May, 1990.
"Equations of Motion for an Experimental Planar Two-Link Flexible Manipulator", Proceedings of the ASME Winter Annual Meeting, San Francisco, CA, December, 1989.
Experiments in Modelling and End-Point Control of Two-Link Flexible Manipulators, , Stanford, CA 94305, Stanford University, April, 1991.