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Simple linear joint controllers are still used in typical industrial robotic systems. The use of these controllers leads to non-negligible dynamic path deviations for applications that require high path accuracy. These deviations result from the strong influence of nonlinearities, such as multi-body dynamics and gear friction. Sophisticated nonlinear control algorithms, known from the literature, are still not used because they usually require an expensive change of the control architecture.doi:10.1177/027836402320556476 fatcat:eel4ecawpbeafft5vix25gvt4y