Abstract
ABSTRACT In this paper, we present a variable structure control design for robot manipulators with joint flexibility. Singular perturbation technique is used to study the two time scale property of the robot dynamics. A variable structure controller, incorporating a PD feedback is used to control the rigid-body dynamics. It is shown that the fast mode can be regarded as a disturbance to the rigid-body dynamics and hence a fast mode damping is optional in path tracking. Requiring only limited knowledge on bounds of robot dynamics, the controller is simple to design and implement.
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