@article{oai:u-fukui.repo.nii.ac.jp:00024857,
 author = {ASAKURA, Toshiyuki and MINAMI, Mamoru and DONG, Lixin and HUANG, Yumei},
 issue = {2},
 journal = {福井大学工学部研究報告},
 month = {Sep},
 pages = {255--263},
 title = {Position Control and Explicit Force Control of  Constrained Motions of a Manipulator for Grinding Tasks},
 volume = {44},
 year = {1996}
}