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van Woerkom, P.T.L.M. (author), Steenman, G.J.J. (author)The objective of the study is the synthesis of an algorithm for the automatic control of an electromechanical actuator in the rotational joint of a multi-link, robotic manipulator. Control performance is assessed in terms of ability of the controlled joint to follow a commanded joint angle, or a commanded joint angular rate. Part One of the...report 1988