Ghanekar, Milind2006-07-282006-07-2819971997http://hdl.handle.net/10012/161application/pdf8271224 bytesapplication/pdfenCopyright: 1997, Ghanekar, Milind. All rights reserved.Harvested from Collections CanadaDynamic equivalence conditions and controller scaling laws for robotic manipulatorsDoctoral Thesis