TY - CHAP T1 - On some structural properties of general manipulation systems T2 - Modelling and Control of Mechanichal Systems Y1 - 1997 A1 - A. Bicchi A1 - D Prattichizzo ED - A. Astolfi ED - D. J. N. Limebeer ED - C. Melchiorri ED - A. Tornambèe ED - R.B. Vinter KW - Haptics KW - Robotics JF - Modelling and Control of Mechanichal Systems PB - Imperial College Press CY - London, U.K. ER -