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Model-based controllers have successjully been applied to many electrically driven robotic manipulators to improve their tracking performance. The application to hydraulically actuated systems however is not straight forward, due to the nonlinear-internal dynamics of the actuators. This paper presents the modelling of an experimental hydraulic robot arm and the implementation of a cascaded control scheme: a model-based motion controller that compensates for dynamic forces, such as friction anddoi:10.1109/robot.2001.933007 dblp:conf/icra/HoneggerC01 fatcat:l4mcrlkdibabdk5b62s4gs4c2a