[IEEE Electronics, Robotics and Automotive Mechanics Conference (CERMA 2007) - Cuernavaca, Morelos, Mexico (2007.09.25-2007.09.28)] Electronics, Robotics and Automotive Mechanics Conference (CERMA 2007) - Globally Stabilizing Motion Control for Robot Manipulators With Bounded Inputs Through a PD+ Type SchemeWith Saturating-P and Saturating-D Actions

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