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Dual mode synchronous positioning control with switching master and slave axes is proposed to realize accurate contour control of industrial robot arms. Disturbance contaminated axis is switched to the master axis, then each of the disturbance in the first axis or the second axis can be compensated. Effectiveness of the proposed method was assured by the experimental results of an actual articulated robot arm.

Dual Mode Synchronous Positioning with Switching Master-Slave by Using Torque Signal for Contour Control of Articulated Robot Arms