Abstract
SUMMARYIn this paper the control of flexible-joint manipulators while explicitly avoiding actuator saturation is considered. The controllers investigated are composed of a bounded proportional control term and a Hammerstein strictly positive real angular rate control term. This control structure ensures that the total torque demanded of each actuator is bounded by a value that is less than the maximum torque that each actuator is able to provide, thereby disallowing actuator saturation. The proposed controllers are shown to render the closed-loop system asymptotically stable, even in the presence of modeling uncertainties. The performance of the controllers is demonstrated experimentally and in simulation.
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