黃漢邦Weng, J. C.J. C.WengHuang, Han-PangHan-PangHuang2009-05-152018-06-282009-05-152018-06-281992-10http://ntur.lib.ntu.edu.tw//handle/246246/156115en-USA Unified Controller Design for Constrained Manipulators:Stability and Robustness Analysisreport