Mazur, A., Kaczmarek, M., Ratajczak, J., & Domski, W. (2019). Modified Position-Force Control for a Manipulator Geometrically Constrained by Round Obstacles. Journal of Automation, Mobile Robotics and Intelligent Systems, 13(2), 60-67. https://doi.org/10.14313/JAMRIS/2-2019/19