Houman Sadjadian

[ 1 ] - Nonlinear Stabilizing Controller for a Special Class of Single Link Flexible Joint Robots

Joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. Most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. The problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...