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Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete\u2010time adaptation algorithm is extremely simple and is therefore suitable for real\u2010time implementation. Simulations and experimental results are given to demonstrate the performance of the scheme.<\/jats:p>","DOI":"10.1002\/rob.4620070203","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T09:50:09Z","timestamp":1183715409000},"page":"145-166","source":"Crossref","is-referenced-by-count":11,"title":["A discrete\u2010time adaptive control scheme for robot manipulators"],"prefix":"10.1002","volume":"7","author":[{"given":"M.","family":"Tarokh","sequence":"first","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,22]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3426424"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1080\/00207178108922527"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.1983.309392"},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140646"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(84)90013-X"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1985.1103842"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1985.1103873"},{"key":"e_1_2_1_9_2","doi-asserted-by":"crossref","unstructured":"J. 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