Abstract: A new output feedback controller design approach for flexible-joint (FJ) robots via the observer dynamic surface design technique is presented. The proposed approach only requires the feedback of position states. We first design an observer to estimate the link and actuator velocity information. Then, the link position tracking controller using the observer dynamic surface design proc...

This short paper describes the application of a model free, learning neural controller, that is able to optimally control a flexible joint of a robot arm.

In this paper the design of an optimal nonlinear H∞ controller for flexible joint robot (FJR) is presented. An approximate solution based on Taylor Series expansion is considered for the Hamilton-Jacobi-Isaac (HJI) inequality. A two-degree-of-freedom controller combined of optimal nonlinear H∞ controller and inverse dynamics controller is proposed to tackle the regulation as well as tracking pr...

The trajectory-tracking control of a typical industrial robot with six revolute joints is studied, where the joint flexibility is taken into account. An explicit form of the control law is obtained by using the composite control technique. The stability of system is discussed. The global convergence of tracking error can be reached by tuning the controller parameters. This method has a unique a...

Conventional model-based control strategies are very complex and difficult to synthesize due to high complexity of the dynamics of robots manipulator considering joint elasticity. This paper presents investigations into the development of hybrid control schemes for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, initially...

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...

The paper addresses the problem of controlling the joints of an flexible joint robot with a state feedback controller and proposes a gradual way of extending such a controller towards feedback linearization. The global asymptotic stability for the state feedback controller with gravity compensation is proven. Experimental results on the DLR light-weight robots validate the method.

Novel robotic applications have demanded lighter robots that can be driven using small amounts of energy, for example robotic booms in the aerospace industry, where lightweight manipulators with high performance requirements (high speed operation, better accuracy, high payload/weight ratio) are required (Wang & Gao, 2003). Unfortunately, the flexibility of these robots leads to oscillatory beha...

'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...