@booklet {NASAsemiannual:1989, title = {{NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems}}, number = {8}, year = {1989}, month = {February}, 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 and William Dickson} }