A TRACKING CONTROLLER FOR FLEXIBLE JOINT ROBOTS

Éva Gyurkovics - Dmitri Svirko

   In this work, a dynamic output feedback controller for flexible joint robots is presented. The proposed controller requires the measurements of each motor rotor and link positions and guarantees semiglobal asymptotic tracking of any bounded sufficiently smooth reference trajectory. The dynamic part of the proposed controller consists of an observer that estimates the velocity of each link and motor rotor.

Keywords: flexible joints, nonlinear systems, nonlinear observers, exponential stability

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