@conference {KoningsteinU:1989,
	title = {{Computed Torque Control of a Free-Flying Cooperating-Arm Robot}},
	booktitle = {Proceedings of the NASA Conference on Space Telerobotics},
	year = {1989},
	month = {February},
	address = {Pasadena, CA},
	author = {Ross Koningstein and Marc Ullman and Robert H. Cannon Jr.}
}
