Dept. of Electr. Eng., National Taiwan Univ.Yang, Jung HuaJung HuaYangFu, Li ChenLi ChenFu2007-04-192018-07-062007-04-192018-07-061995-06N/Ahttp://ntur.lib.ntu.edu.tw//handle/246246/2007041910043034application/pdf430145 bytesapplication/pdfen-USAdaptive nonlinear control for manipulators with joint elasticityjournal articlehttp://ntur.lib.ntu.edu.tw/bitstream/246246/2007041910043034/1/00532747.pdf