'The regulation problem for articulated mechanical arms is often solved by designing simple control laws which strongly exploit the physical properties of the system. It is well known that a rigid robot can be globally asymptotically stabilized around a given joint configuration via a P D controller on the joint errors, provided that gravity is exactly cancelled by feedback [l]. Under a mild co...

Elastic robot joints gain in importance since the nowadays robotics tends to the lightweight structures. The lightweight metals and composite materials deployed not only in the links but also in the joint assemblies affect the overall stiffness of robotic system. The elastic joints provide the loaded robot motion with additional compliance and can lead to significant control errors and vibratio...

This paper deals with the tracking control problem of flexible joint robots under the assumption that the link and robot positions are the only measured signals. A globally asymptotically stable state feedback controller and a nonlinear observer is proposed which guarantees the semiglobal asymptotic tracking of the system obtained by the designed dynamic output feedback controller. Examples ill...

This letter presents a novel control methodology that is based on an amalgamation of model-based, power-shaping (PSC), and feedback deactivation. It has been hypothesised proportional position flexible-joint robots can impinge their interactional performance, since causes ‘stiffening’ the robot's joints. In order to reduce reliance upon terms, this work proposes usage feedf...

The paper focuses on the problem of point-to-point trajectory planning for flexible redundant robot manipulators (FRM) in joint space. Compared with irredundant flexible manipulators, a FRM possesses additional possibilities during point-to-point trajectory planning due to its kinematics redundancy. A trajectory planning method to minimize vibration and/or executing time of a point-to-point mot...

The paper focuses on the problem of trajectory planning of flexible redundant robot manipulators (FRM) in joint space. Compared to irredundant flexible manipulators, FRMs present additional possibilities in trajectory planning due to their kinematics redundancy. A trajectory planning method to minimize vibration of FRMs is presented based on Genetic Algorithms (GAs). Kinematics redundancy is in...