Forcefree Control with Assigned Locus for Position Input Type Articulated Robot Arm Kushida, Daisuke ; Nakamura, Masatoshi ; Goto, Satoru ; Kyura, Nobuhiro Abstract Publication: IEEJ Transactions on Industry Applications Pub Date: 2002 DOI: 10.1541/ieejias.122.1059 Bibcode: 2002IJTIA.122.1059K