An approach is presented for the design of simple robust independent joint controllers which result in linear decoupled joint motions. In this approach each joint is treated as a simple inertial systems plus a disturbance torque representing all the unmodeled dynamics. By means of a very simple procedure, the disturbance is instantly estimated and rejected, thus allowing simple PD control to be used. The controllers are inherently robust. Experimental evaluations of the controller on a PUMA 560 are are performed, and the experimental results are presented.
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