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In this paper we extend the work done by Chen et al. (IEEE Trans Ind Electron 47(4):932–938, 2000) which proposed a nonlinear disturbance observer for two-link robot manipulators to n-link robot manipulators. A general form of dynamic equations of serial n-link robot manipulator is considered, and the stability analysis of the proposed observer is performed by using Lyapunov’s direct method. Although...
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