[1] H. Asada and J.-J.E. Slotine, Robot Analysis and Control, John Wiley & Sons, New York, 1986.

[2] J.J. Craig, Adaptive Control of Mechanical Manipulators, Addison-Wesley, Reading, MA, 1988.

[3] J.J. Craig, Introduction to Robotics: Mechanics and Control, 2nd ed., Addison-Wesley, Reading, MA, 1989.

[4] J. Guckenheimer and P. Holmes, Nonlinear Oscillations, Dynamical Systems, and Bifurcations of Vector Fields, Springer-Verlag, Berlin, 1983.

[5] H. Kawakami, Bifurcations of periodic response in forced dynamic nonlinear circuits: Computation of bifurcation values of system parameters, in "IEEE Trans. Circuits and Systems", 31/4, 1984, pp. 248-260.

[6] P.K. Khosla, Real time control and identification of direct-drive manipulators, PhD Thesis, Dept. of Electrical and Computer Engineering, Carnegie-Mellon University, 1986.

[7] F.C. Moon, Chaotic Vibrations: An Introduction for Applied Scientists and Engineers, John Wiley & Sons, New York, 1987.

[8] T.S. Parker and L.O. Chua, Practical Numerical Algorithms for Chaotic Systems, Springer-Verlag, Berlin, 1989.

[9] P. Sekar and S. Narayanan, Chaos in mechanical systems: A review, "Sadhana", 20/2-4, 1995, pp. 529-582.

[10] A. Wolf, J.B. Swift, H.A. Swinney, and J.A. Vastano, Determining Lyapunov exponents from a time series, "Physica D", 1985, pp. 285-317.