Szukana fraza: [Abstract = "The purpose of this paper is to improve controller robustness by applying a neural network technique in order to compensate the effect of uncertainties in the robot model. We show that this control strategy is robust with respect to payload uncertainties, position and environment stiffness, and dry and viscous friction. Simulation results for a three degrees\-of\-freedom manipulator and various types of environments and trajectories show the effectiveness of the suggested approach compared with classical external force feedback loop structures."]

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