{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,11]],"date-time":"2026-03-11T03:40:30Z","timestamp":1773200430941,"version":"3.50.1"},"reference-count":26,"publisher":"Emerald","issue":"4","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,9,19]]},"abstract":"<jats:sec>\n                  <jats:title>Purpose<\/jats:title>\n                  <jats:p>Achieving accurate trajectory tracking control of robot manipulators is challenging due to dynamic model errors and uncertain payloads. This paper aims to enhance trajectory tracking performance for robots with n degrees of freedom (DOF).<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Design\/methodology\/approach<\/jats:title>\n                  <jats:p>This study proposes a robust motion control framework that combines uncertainty and disturbance estimator with model-based compensation. The proposed framework ensures precise trajectory tracking in robot manipulators. In addition, uncertainties in the high-DOF robot dynamics are estimated through a simple model-based compensation for system error dynamics. The stability of the closed-loop system of the proposed framework is analyzed and proved.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Findings<\/jats:title>\n                  <jats:p>The results indicate that the proposed framework can significantly reduce tracking errors and increase disturbance resistance. The simulation results of a two-link robotic arm verify the effectiveness of the proposed method. The results of the experiments conducted on a seven-DOF torque-controlled Flexiv4S manipulator demonstrate the superior trajectory tracking performance and robustness of the proposed algorithm.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Originality\/value<\/jats:title>\n                  <jats:p>This study introduces a highly efficient, robust motion control framework for high-DOF robots, which can improve the trajectory tracking performance in the presence of model uncertainties.<\/jats:p>\n               <\/jats:sec>","DOI":"10.1108\/ir-07-2024-0349","type":"journal-article","created":{"date-parts":[[2025,1,23]],"date-time":"2025-01-23T06:08:24Z","timestamp":1737612504000},"page":"610-617","source":"Crossref","is-referenced-by-count":1,"title":["Robust motion control based on model-based unknown system dynamics estimator for robot 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