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Due to this problem, it is necessary to further optimize the control process of the system. One solution is to deal with the control accuracy and response speed issues of robotic arm joints, to improve the system\u2019s response performance and enhance the system\u2019s anti-interference ability. This paper proposes a speed feedforward and position control scheme for robotic arm joint control. The conclusion section shows that compared to traditional five-degree-of-freedom robotic arm systems, the addressed robotic arm control system has a lower tracking delay and better dynamic response performance. It can improve the system\u2019s response performance while also enhancing its anti-interference ability.<\/jats:p>","DOI":"10.3390\/s23094276","type":"journal-article","created":{"date-parts":[[2023,4,26]],"date-time":"2023-04-26T01:44:42Z","timestamp":1682473482000},"page":"4276","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["The Five-DOF Explosion-Removal Manipulator Based on Position and Velocity Feedforward Compensation Control"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2831-1201","authenticated-orcid":false,"given":"Jianwei","family":"Zhao","sequence":"first","affiliation":[{"name":"School of Mechanical Electronic & Information Engineering, China University of Mining and Technology (Beijing), Beijing 100083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiaxin","family":"Zhou","sequence":"additional","affiliation":[{"name":"School of Mechanical Electronic & Information Engineering, China University of Mining and Technology (Beijing), Beijing 100083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,4,25]]},"reference":[{"key":"ref_1","unstructured":"Ruangpayoongsak, N., Roth, H., and Chudoba, J. 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