In the stage of nominal regimes, programmed (nominal) control is synthesized taking into account coupling among degrees of freedom under nominal conditions. Thus, in the stage of perturbed regimes the influence of coupling among the d.o.f. is reduced if practical stability of the system in the finite regions of the state space is under consideration. In this paper, global control in the form of force feedback is introduced. The problem of global system stability is also considered. In order to discuss different aspects of the application of decentralized and global control to industrial manipulators, numerical examples are presented.

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