Stabilizing robots with uncertain parameters actuated by DC motors with flexible coupling shafts

Abstract

This study presents a linear output-based controller for stabilizing a rigid-link flexible-joint electrically driven robot manipulator, under some conditions of system uncertainty. The proposed controller ensures local exponential stability. The controller is analyzed using tools for pole placement by an output-feedback based on the linear system theory. Applications of the results to the set-point regulation control problem are considered.