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Oriolo, G. and Nakamura, Y. (1991) Free-Joint Manipulators: Motion Control under Second-Order Nonholonomic Constraints. Proceedings of IEEE International Workshop on Intelligent Robots and Systems, Osaka, 3-5 November 1991, 1248-1253.
http://dx.doi.org/10.1109/IROS.1991.174671

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