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HYBRIDPOSITION/FORCECONTROLOFTHESCORBOTER4PCMANIPULATORWITHNEURALCOMPENSATIONOFNONLINEARITIESPIOTRGIERLAKRZESZOWUNIVERSITYOFTECHNOLOGY,DEPARTMENTOFAPPLIEDMECHANICSANDROBOTICS8POWSTANCOWWARSZAWYST,35959RZESZOW,POLANDPGIERLAKPRZEDUPLABSTRACTTHEPROBLEMOFTHEMANIPULATORHYBRIDPOSITION/FORCECONTROLISNOTTRIVIALBECAUSETHEMANIPULATORISANONLINEAROBJECT,WHOSEPARAMETERSMAYBEUNKNOWN,VARIABLEANDTHEWORKINGCONDITIONSARECHANGEABLETHENEURALCONTROLSYSTEMENABLESTHEMANIPULATORTOBEHAVECORRECTLY,EVENIFTHEMATHEMATICALMODELOFTHECONTROLOBJECTISUNKNOWNINTHISPAPER,THEHYBRIDPOSITION/FORCECONTROLLERWITHANEURALCOMPENSATIONOFNONLINEARITIESFORTHESCORBOTER4PCROBOTICMANIPULATORISPRESENTEDTHEPRESENTEDCONTROLLAWANDADAPTIVELAWGUARANTEEPRACTICALSTABILITYOFTHECLOSEDLOOPSYSTEMINTHESENSEOFLYAPUNOVTHERESULTSOFANUMERICALSIMULATIONAREPRESENTEDKEYWORDSNEURALNETWORKS,ROBOTICMANIPULATOR,TRACKINGCONTROL,FORCECONTROL1INTRODUCTIONROBOTICMANIPULATORSAREDEVICESWHICHFINDDIffERENTAPPLICATIONSINMANYDOMAINSOFTHEECONOMYTHEREQUIREMENTSINRELATION