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Tilley, S. W., and R. C. H. Jr., "End Point Position and Force Control of a Flexible Manipulator with a Quick Wrist", Proceedings of the AIAA Guidance, Navigation and Control Conference, Williamsburg, VA, pp. 41-49, August, 1986.
Tilley, S. W., R. C. H. Jr., and R. Kraft, "End-point Force Control of a Very Flexible Manipulator with a Fast End Effector", Proceedings of the ASME Winter Annual Meeting, vol. 3, Anaheim, CA, pp. 1-9, December, 1986.
Tilley, S. W., M. G. Hollars, and K. Emerick, "Experimental control results in a compact space robot actuator", Proceedings of the ASME Winter Annual Meeting, San Francisco, CA, December, 1989.
Tilley, S. W., C. M. Francis, K. Emerick, and M. G. Hollars, "Preliminary Results on Noncolocated Torque Control of Space Robot Actuators", Proceedings of the NASA Conference on Space Telerobotics, Pasadena, CA, NASA, February, 1989.