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A neural identification of the dynamic model of the robot is proposed to determine the principal components of the MLPNN input vector. The latter is used to compensate the dynamic effects arising from the robot\u2013environment interaction and its parameters are adjusted according to an adaptation law based on the Lyapunov-analysis methodology. The proposed controller is evaluated experimentally on the C5 parallel robot. This method is capable of tracking accurately the force\/position trajectories and its stability robustness is proved.<\/jats:p>","DOI":"10.1017\/s0263574711001354","type":"journal-article","created":{"date-parts":[[2012,1,17]],"date-time":"2012-01-17T13:44:34Z","timestamp":1326807874000},"page":"1177-1187","source":"Crossref","is-referenced-by-count":9,"title":["A stable adaptive force\/position controller for a C5 parallel robot: a neural network approach"],"prefix":"10.1017","volume":"30","author":[{"given":"B.","family":"Achili","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"B.","family":"Daachi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Y.","family":"Amirat","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"A.","family":"Ali-Cherif","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M. 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