"Tsubasa Numata,Shigeki Nakaura,Mitsuji Sampei","Casting Motion Controller for Multilinked Manipulator utilizing Output Zeroing","48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference","Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference","IEEE",,,"pp. 4402-4407",2009,Dec.