Tracking control of flexible joint robots with uncertain parameters and disturbances

Abstract

The tracking control problem is considered for robots having elastic joints. The kinematic and dynamic parameters of the robots are not assumed to be known but they are assumed to belong to a known bounded compact set. Moreover, unknown frictional forces are supposed to be present. A robust tracking controller is proposed capable of guaranteeing tracking with arbitrary accuracy of any given reference trajectory.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>