Control of flexible joint robots

Abstract

A switching control scheme is described for flexible joint robots which does not use link jerk or acceleration feedback. The control scheme does not require the numerical differentiation of the velocity signal or the inversion of the inertial matrices. Simulations are presented to verify the validity of the control scheme and its superiority over existing rigid robot controllers when applied to flexible joint robots.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>