A method to design adaptive controllers for flexible joint robots

Abstract

An approach to the design of control laws for robot manipulators is proposed. This approach can be applied to robots having flexible joints as well. An application to the case of unknown parameters is also given with reference to a single-link robot with one revolute elastic joint. A drawback to the method considered is the complexity of the resulting control law, as shown by the single-link example. Some simulation results for a three-link rigid robot are also presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>