@article{oai:repository.dl.itc.u-tokyo.ac.jp:00000061,
 author = {Arai, Hirohiko and Tanie, Kazuo and Tachi, Susumu},
 issue = {1},
 journal = {IEEE transactions on industrial electronics : a publication of the IEEE Industrial Electronics Society},
 month = {Feb},
 note = {application/pdf},
 pages = {25--31},
 title = {Path Tracking Control of a Manipulator Considering Torque Saturation},
 volume = {41},
 year = {1994}
}