TY - JOUR N2 - In this paper we present results of systematic and comprehensive simulation analysis of the Tsao & Safonov unfalsified controller for complex robot manipulators. In particular, we show that the controller falsification procedure yields the closedloop unfalsified controller, which accomplishes the control objective, within a finite and relatively short time interval with the number of invocations of linear programming based unfalsified controller selection procedure being relatively small. We also present some conclusions resulting from the investigation of the effect of such elements as manipulator structure complexity, prior knowledge about disturbances, reference trajectory and assigned closed-loop spectrum on unfalsified controller performance and computational complexity. L1 - http://www.czasopisma.pan.pl/Content/111749/PDF-MASTER/(53-1)19.pdf L2 - http://www.czasopisma.pan.pl/Content/111749 PY - 2005 IS - No 1 EP - 29 KW - unfalsified control KW - manipulator KW - linear programming A1 - Pawluk, M. A1 - Arent, K. VL - vol. 53 DA - 2005 T1 - Unfalsified control of manipulators: simulation analysis SP - 19 UR - http://www.czasopisma.pan.pl/dlibra/publication/edition/111749 T2 - Bulletin of the Polish Academy of Sciences Technical Sciences ER -