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The specific issues of: incomplete and\/or asynchronous dynamic compensation, feedback paradigm selection, payload sensitivity, and drive systems effects were experimentally analyzed. Evaluation results clearly demonstrate that the performance improvement capability of model\u2010based control is not restricted to research robots. A model\u2010based controller with complete feedforward compensation and sliding mode feedback reduced the maximum tracking error by at least a factor of five when compared to feedback alone. End\u2010effector payload invariant tracking only requires mass information. Tracking performance is not dependent on dynamic compensation at the servo rate. Evaluation results provide insight for adaptive control law design and a baseline to compare their performance against.<\/jats:p>","DOI":"10.1002\/rob.4620070506","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T10:21:13Z","timestamp":1183717273000},"page":"741-758","source":"Crossref","is-referenced-by-count":20,"title":["Model\u2010based control of industrial manipulators: An experimental analysis"],"prefix":"10.1002","volume":"7","author":[{"suffix":"Jr.","given":"M. B.","family":"Leahy","sequence":"first","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"volume-title":"Modeling, Trajectory Calculation, and Servoing of a Computed Controller Arm, Memo Am\u2010177","year":"1972","author":"Paul R. P. C.","key":"e_1_2_1_2_2"},{"volume-title":"Introduction to Robotics, Mechanics and Control: Second Edition","year":"1989","author":"Craig J. 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