Robust adaptive control of flexible joint manipulators (Q1298266)

This paper considers robust adaptive control of flexible joint manipulators. The authors employ a design procedure they developed previously for nonlinear control systems with both nonlinearly parametrized, dynamic uncertainties and bounded unmeasurable disturbances. In this application, they design a robust adaptive controller without assuming any knowledge of the Coriolis, centrifugal, joint flexibility or friction terms in the manipulator dynamics. The paper includes simulation results for the control law operating on a two-link flexible joint manipulator.