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This article presents a new simple method of design and control of robotic manipulators with uncertain parameters. If the sampling frequency is satisfied with some certain conditions, the differential equations of the n inputs, n outputs robotic Ž . manipulator with 2nq3 n unknown parameters can be simplified as difference equations with only n2 unknown parameters, and some of the uncertainties can be neglected. Therefore, the design and control procedure can be simplified greatly. Two examples are given to compare the results of the new method with those of neural networks and high-gain PD control. The simulation results indicate that the method is simpler, and the controlled manipulators have a good transient and steady state response. Q 1998 John Wiley & Sons, Inc.

A new simple method of control of robotic manipulators with uncertain parameters