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An adaptive architecture for feedforward control oj industrial robots with standard positional controller is presented. This approach explicitly considers robots with elastical joints. It assumes that the real position of the TCP can be recorded for ofline evaluation. Compensation of elasticity is trained in a feedforward controller. Adaptation takes place without any knowledge of the physical system model. The performance of the method is demonstrated in experiments with a 6am"sindustrialdoi:10.1109/robot.1999.770414 dblp:conf/icra/LangeH99 fatcat:wina3vfczndtrnpbh4q3gwikcu