@misc{TUW-235396, author = {Tebeek, Wolfgang and Kemmetm{\"u}ller, Wolfgang and Henikl, Johannes}, title = {Control System and Method for controlling the Orientation of a segment of a Manipulator}, year = {2014}, howpublished = {patent}, note = {submitted: 2013-04-09, granted: 2014-10-15} }