Kolbus, M.; Wobbe, F.; Reisinger, T.; Schumacher, W.: Integrated Force and Motion Control of Parallel Robots -- Part 1: Unconstrained Space. In: Robotic Systems for Handling and Assembly, vol. 67, Institute of Control Engineering, Technische Universität Braunschweig, Hans-Sommer-Straße 66, 38106 Braunschweig, Germany, Springer Berlin / Heidelberg, 2011, pp. 233-252 [Link]
Reisinger, T.; Wobbe, F.; Kolbus, M.; Schumacher, W.: Integrated Force and Motion Control of Parallel Robots -- Part 2: Constrained Space. In: Robotic Systems for Handling and Assembly, vol. 67, ABB Corporate Research Center, Wallstadter Straße 59, 68526 Ladenburg, Germany, Springer Berlin / Heidelberg, 2011, pp. 253-273 [Link]