SIEDEL, Torsten; BETHGE, Stefan; HILD, Manfried. Phase Shifted Pulse Height Modulated Motor Control for Multiply Actuated Joints to Optimize Operating Characteristics. Journal of Automation, Mobile Robotics and Intelligent Systems, [S. l.], v. 10, n. 2, p. 15–24, 2016. DOI: 10.14313/JAMRIS_2-2016/12. Disponível em: https://www.jamris.org/index.php/JAMRIS/article/view/380.. Acesso em: 18 may. 2024.