... 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 ... 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, ... ())=′∑8596Ch24Frame Page 647 Tuesday, November 6, 2001 9:43 PM© 2002 by CRC Press LLCfeedback loop. Each of these loops uses separate sensor systems. The positional loop utilizes theinformation obtained...