[IEEE The 24th Southeastern Symposium on and The 3rd Annual Symposium on Communications, Signal Processing Expert Systems, and ASIC VLSI Design System Theory - Greensboro, NC (March 1-3, 1992)] The 24th Southeastern Symposium on and The 3rd Annual Symposium on Communications, Signal Processing Expert Systems, and ASIC VLSI Design System Theory - Tracking Control of Rigid-Link Electrically-Driven Robot Manipulators Operating Under Motion Constraints