@booklet {NASAsemiannual:1987a, title = {{NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems}}, number = {5}, year = {1987}, month = {August}, publisher = {Stanford University Aerospace Robotics Lab}, address = {Stanford, CA 94305}, author = {Robert H. Cannon Jr. and Marc Ullman and Ross Koningstein and Stan A. Schneider and Warren Jasper and Roberto Zanutta} }