PD control with on-line gravity compensation for robots with elastic joints: Theory and experiments
Dynamic modelling and control of variable stiffness actuators
Nonlinear sliding mode control and feasible workspace analysis for a cable suspended robot with input constraints and disturbances
Analysis, evaluation and development of wheelchair-mounted robotic arms
A reference governor-based controller for a cable robot under input constraints
On the control of the KNTU CDRPM: A cable driven redundant parallel manipulator