A tracking controller for flexible joint robots using only link position feedback

Abstract

A dynamic output feedback controller for flexible joint robots is presented which guarantees tracking of a desired trajectory, starting from arbitrary initial conditions. The controller needs only the measurements of the positions of the links and the knowledge of an upper bound on the initial error.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>