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Getz, Neil H. and Marsden, Jerrold E. (1995) Joint-space tracking of workspace trajectories in continuous time. In: Proceedings of the 34th Conference on Decision & Control, New Orleans, LA, 13-15 December 1995. Vol.2. Institute of Electrical and Electronics Engineers , Piscataway, NJ, pp. 1001-1006. ISBN 0780326857 http://resolver.caltech.edu/CaltechAUTHORS:GETieeecdc95b

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