... for first link and 0.65 rad for the second link. Advances in Robot Manipulators6 72 1J , 2J Moment of inertias of arms 1 and 2 0.0980kgm2, 0.0980kgm2 1mJ ,2mJ Inertias of motors ... 0.4 rad for first link and 0.65 rad for the second link. TrajectoryControlofRLED Robot Manipulators UsingaNewTypeofLearningRule 677 independent time variable in the models. To overcome ... controllers for robotic manipulators. ASME Journal of Dynamic Systems, Measurement and Control, Vol.112, No.4 (December 1990), 618- 629, ISSN: 0022-0434. Advances in Robot Manipulators6 76 independent...