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A necessary and sufficient condition for robust decentralized controllability of robot manipulators

A simple, explicit condition on the inverse inertia matrix of robot manipulators is found to be necessary and sufficient for a system of decentralized joint controllers to be robust to bounded disturbances of various nature. Most properly designed nonredundant manipulators satisfy that condition, and for such robots, a system of sliding mode controllers with clearly determined robustness characteristics is proposed.