@inproceedings{MobergH:09,
    author = {Moberg, Stig and Hanssen, Sven},
    title = {Inverse Dynamics of Flexible Manipulators},
    year = {2009},
    month = jul,
    pages = {1--20},
    booktitle = {Multibody Dynamics 2009},
    address = {Warsaw, Poland},
    URL = "http://www.control.isy.liu.se/research/reports/2010/2939.pdf",
}