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Industrial robots are serial link manipulators whose dynamic characteristics are highly nonlinear. By controlling each link or joint individually, employing the conventional technique to design linear feedback controllers for the robot is possible. The gravitational force and force interactions between joints are suppressed by precalculated feedforward compensation. To ease the computational burden, the compensating signals are either approximated or their computational formulas are simplified.
J.Y.S. Luh (Sun,) studied this question.