The dynamic equations of robot manipulators which include the effect of payload are simulated using Runge-Kutta and Adams- Bashforth methods. A decen tralized scheme is developed for independent joint control of robot manipulators and a simple algorithm is presented for simulating the decentralized control laws. Responses of the robot to joint torques are ob tained to show the basic characteristics of the robot dy namics. Closed-loop system consisting of the robot and the decentralized controller is simu lated to demonstrate the capabilities of the control scheme.
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