Szukana fraza: [Abstract = "Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non\-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering\-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and \(possible\) kinematic and\/or algorithmic singularities met on the robot trajectory."]

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