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This paper proposes a robust inverse-optimal control for flexible joint robot manipulator in order to cope with parameter uncertainties. In the first step, a virtual control input was designed as PED form with 2 gain tuning conditions. In the second and third steps, the other virtual input and actual control torque were made using the saturation-type nonlinear control based on the Lyapunov's second...
In this paper, a robust control algorithm is proposed for industrial robots having flexible joints. A link with flexible joint is modeled as a two-mass system, which can be represented in terms of a cascade system. The controller is designed based on a recursive process for the cascade system and the robustness is obtained in each step of the design. Especially, we design the real control part having...
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