Abstract In this paper, a stability control approach of flexible joint robot (FJR) based T-S fuzzy model using fuzzy Lyapunov function is proposed. First, the Takagi and Sugeno (T-S) fuzzy model is employed to approximate the flexible joint robot, then a fuzzy controller is developed based on parallel distributed compensation principle (PDC). The non-quadratic stability conditions for the flexi...

The aim of this reported work is to extend a recent, simple and effective algorithm for the estimation of the probability density function and cumulative density function to the case of bidimensional random vectors. The algorithm is based on an information maximisation approach. The nonlinear bidimensional function involved in the algorithm is adaptively modified during learning and is implemen...

Research on motion characteristics of the space flexible-joint flexible-link manipulator is investigated. The equations N degree freedom (DOF) flexible are established by means Newton-Euler method and finite segment considering both computational efficiency accuracy. genetic algorithm used to identify parameters torsional stiffness damping related link flexibility. derived model involves dynami...

This paper addresses the impedance control problem for flexible joint manipulators. An impedance controller structure is proposed, which is based on an exact decoupling of the torque dynamics from the link dynamics. A formal stability analysis of the proposed controller is presented for the general tracking case. Preliminary experimental results are given for a single flexible joint.

The robotics literature of the last two decades contains many important advances in the control of flexible joint robots. This is a survey of these advances and an assessment for future developments, concentrated mostly on the control issues of flexible joint robots.