A simple scheme of nonlinear decoupling control for robotic manipulators with flexible joints

Abstract

Control of robotic manipulators with flexible joints is considered in this paper. Without using sophisticated mathematical tools, a simple yet rigorous algorithm is derived to decouple and linearize the highly nonlinear and strongly cross-coupled robotic dynamics. It is shown that the concise handcrafted algorithm can be used with great ease. A numerical example is presented to illustrate the performance of the proposed scheme.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>