Abstract
AbstractIn this paper, it is demonstrated that many position control laws developed for rigid joint robots can also be used for flexible joint robots after some modifications. The main assumptions are smoothness of the control law and the availability of a Lyapunov function. The adaptation is based on a simple control principle: With the help of a position control method known from rigid joint robots, desired values for the motor positions are determined. If the motor positions and their desired values are identical, the link positions converge to their desired trajectories. Afterwards, the system inputs are specified such that the motor positions converge to their desired values. The method can also be applied under system uncertainties.
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