Robust nonlinear control of flexible-joint robots requires that the link position, velocity, acceleration, and jerk be available. In this paper, we derive the dynamic model of a nonlinear flexible-joint robot based on the governing Euler-Lagrange equations and propose extended and unscented Kalman filters to estimate the link acceleration and jerk from position and velocity measurements. Both o...

Robots are now requested to perform more and more complex tasks such as rescue activities in quite practical environments such as rough terrains. It is necessary for robots to have versatile joints that can flexibly adapt to such task environments and realize complex motions. It is desired to develop small and low cost actuators which can flexibly adapt to task environment. Flexibility in robot...

Modern Lightweight robots are constructed to be collaborative, which often results in a low structural stiffness compared conventional rigid robots. Therefore, the controller must able handle dynamic oscillatory effect mainly due intrinsic joint elasticity. Singular perturbation theory makes it possible decompose flexible dynamics into fast and slow subsystems. This model separation provides ad...

This paper proposes a robust finite-time control scheme for the high-precision tracking problem of (FJRs) with various types unpredictable disturbances. Specifically, based on flatness dynamic model, disturbance observer (FTDO) only link-side position measurements is firstly developed to estimate lumped unknown time-varying and unmeasurable states. Then, through information states disturbances ...

Modelling and identification of flexible-joint robots is required for dynamic simulation and model based control of industrial robots. A nonlinear finite element based method is used to derive the dynamic equations of motion in a form suitable for both simulation and identification. The latter requires that the equations of motion are linear in the dynamic parameters. For accurate simulations o...

The paper describes the automation of the shoe grinding process using an industrial robot. One of the major problems of flexible automation using industrial robots is how to avoid joint limitations, singular configuration and obstacles. This problem can be solved using kinematically redundant robots. Due to the circular shape of the grinding disc, the robot becomes kinematically redundant. This...