Adaptive control for Robot Manipulators with Flexible Joints

Abstract

This paper presents an adaptive control scheme for robot manipulators with flexible joints. Our control scheme theoretically guarantees that the tracking error converges to zero and that all the signals in the system remain bounded. We also analyze the robustness of the adaptive controller. To show the capability of the proposed controller, an example of a one-link robot manipulator with one revolute flexible joint is considered. The experimental results are given to demonstrate the effectiveness of this method.