Machado, J. A. TenreiroCarvalho, J. L. Martins de2016-12-161989-011556-4967http://hdl.handle.net/10400.22/8844A new multirate nonlinear controller for robot manipulators is described. The algorithm stems from the computed torque method, but has several modifications on its structure, resulting in a more robust controller. The man philosophy behind those improvements resides on a sound engineering and management of the system resources. Consequently, the use of multirate sampling, memory tables, and predictive action arises naturally from that methodology. The resulting controller is easy to tune using standard industrial engineering practice; moreover, by alleviating the computational burden its implementation es feasible with present day microprocessors.engMultirate nonlinear controllerMicroprocessorsjournal article10.1002/rob.4620060102