A dynamic output feedback controller for flexible joint robots is presented which guarantees
asymptotic tracking of a desired trajectory, starting from arbitrary initial conditions. The …

Design of global tracking controllers for flexibleâ•’joint robots Page 1 Design of Global Tracking
Controllers for Flexible-Joint Robots S. Nicosia and P. Tomel Dipartimento di lngegneria …

The tracking control problem is considered for robots having elastic joints. The kinematic
and dynamic parameters of the robots are not assumed to be known but they are assumed …

This paper presents the first input-output robust control design for the trajectory following
problem of a flexible-joint robot manipulator. The proposed design provides a class of …

The formulation of an appropriate hybrid lumped/distributed model of a flexible robot link
makes it possible to formulate and study tracking problems without the necessity for a priori …

The problem of state observation of robots that have elastic joints is discussed. Outputs are
assumed to be the global link coordinates and their time derivatives, and a nonlinear …

A control strategy which consists of feedforward and feedback compensation loops is
proposed to improve the performance of industrial robots. The feedforward loop is similar to …

A global dynamic output feedback tracking controller for robots with elastic joints is
presented. The controller only requires the measurements of position and speed of each …

An observer for reconstructing the joint velocities of rigid-joint robots is proposed. The
approach consists of exploiting the structural properties of the robot dynamics. The …

A control scheme to perform force/position control with flexible joint robots when the end
effector is constrained to move along a frictionless curved surface represented by algebraic …