@incollection{Shimizu10,
author = {Kiyotaka Shimizu},
title = {P-SPR-D and P-SPR-D+I Control of Robot Manipulators and Redundant Manipulators},
booktitle = {Robot Manipulators},
publisher = {IntechOpen},
address = {Rijeka},
year = {2010},
editor = {Aleksandar Lazinica and Hiroyuki Kawai},
chapter = {33},
doi = {10.5772/9329},
url = {https://doi.org/10.5772/9329}
}