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A passivity and Lyapunov based approach for the control design is presented for the trajectory tracking problem of flexible joint robots. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent feedback. Feedforward selection is analyzed and passivity theory is used to design a motor state-based controller in order to input-output stabilize the...
A passivity approach for the control design of flexible joint robots is applied to the rate control of a three-link arm modeled after the shoulder yaw joint of the Space Shuttle Remote Manipulator System (RMS). The system model includes friction and elactic joint couplings modeled as nonlinear springs. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent...
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