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The controller is based on the theoretical work presented in references 1 &amp; 2, which guarantees Globally Uniformly Ultimately Bounded (GUUB) position tracking error and bounded force tracking error. The controller accomplishes this stability result in spite of robot model uncertainty and only requires; joint position and velocity measurements, end-effector force measurements, and bounds on the model parameters. Experimental results described in this paper serve to verify the theoretical claims.<\/jats:p>","DOI":"10.1017\/s0263574700017434","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:13:10Z","timestamp":1236690790000},"page":"11-18","source":"Crossref","is-referenced-by-count":8,"title":["Experimental results for a robust position and force controller implemented on a direct drive robot"],"prefix":"10.1017","volume":"13","author":[{"given":"M. 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