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A robust and time optimal control strategy for dual-stage manipulator is presented. The time optimal trajectory for a mass-damper system is determined and is given as a reference input to the system. The feedback controller is constructed so that the fine stage tracks the coarse stage errors. The controller is robustly designed as the "perturbation compensated sliding mode con-troI(PCSMC)" law, which is a combination of sliding mode controller(SMC) and perturbation observer(PO). In addition, adoi:10.1109/robot.2000.845363 dblp:conf/icra/KwonCY00 fatcat:b24zfzrznbf2fimowgm2tknkma