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In addition, no actual joint accelerations or any matrix inversions are needed in the control law. The global asymptotic stability of the ideal and the robust stability of the nonideal control system is proven, taking into account the full nonlinear dynamics of the manipulator. Simulation results of this algorithm applied to a realistic Scara type manipulator, which includes dry friction, pay\u2010load inertia variations, actuator\/sensor noise, and unmodelled dynamics are also presented.<\/jats:p>","DOI":"10.1002\/rob.4620080406","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T12:48:32Z","timestamp":1183726112000},"page":"507-529","source":"Crossref","is-referenced-by-count":24,"title":["A new repetitive controller for mechanical manipulators"],"prefix":"10.1002","volume":"8","author":[{"given":"Nader","family":"Sadegh","sequence":"first","affiliation":[]},{"given":"Kennon","family":"Guglielmo","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620010203"},{"key":"e_1_2_1_3_2","doi-asserted-by":"crossref","unstructured":"C. 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