Title:Recursive methods in control of flexible joint manipulatorsAuthor(s):Hubert Gattringer, Bernhard Oberhuber, Johannes Mayr, Hartmut BremerJournal:Multibody System DynamicsEditor(s):J. A.C. Ambrosio; W. SchielenISSN:1384-5640Page Reference:15 page(s)Publishing:2013