... Page 643 Tuesday, November 6, 2001 9:43 PM© 2002 by CRC Press LLC in the loop, systems with elements of learning and self-organization, systems that sometimes donot allow for representation ... −()[]+()+()∗−∗ˆ˙˙ˆˆ,˙ˆΛΛSx Sf F p11˙˙ ˙˙ˆˆ˙.x Sx S Sf S F SK x=+ − −∗−∗−ΛΛΛΛ1111vf© 2002 by CRC Press LLC 100 . Roberts, R., Minimal realization of arbitrary spatial stiffness matrix with a parallel ... Compliance Control Design in Industrial Robotic Systems, Ph.D. Thesis, Univer-sity of Nisˇ, Yugoslavia, 2001.54. Craig, J.J., Hsu, P., and Sastry, S.S., Adaptive control of mechanical manipulators,...