Abstract
To increase the handling abilities of a multiple manipulator system, it is necessary to use sensory-based control mechanisms. The requirements for the successful realisation of these control mechanisms place high demands on the accuracy of each robot manipulator. In this paper a joint controller will be presented, which attains a high accuracy under real-time demands by using the adaptation strategy of parameter scheduling. Hence, independent of the respective arm-configurations the realized concept provides continual good position-accuracy
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