T. Goto, K. Takeyasu, and T. Inoyama：Control Algorithm for Precision Insert Operation Robots， (PDF, 941KB)
IEEE Transaction on System, Man and Cybernetics, Vol. SMC-10, No.1, pp.19-25, 1980.
Note: This paper may not be sold, recopied, or redistributed and is for personal use only. Any recopying, redistribution or resale of this paper is prohibited without a license from the IEEE (rights holder) to do so.
K. Takeyasu, T. Goto, and T. Inoyama：Precision Insertion Control Robot and Its Application， (PDF, 520KB)
Journal of Engineering for Industry, Vol.98, No.4, pp.1313-1318, 1976.