柔軟関節をもつロボットマニピュレータのロバスト制御

抄録

This paper presents a robust control scheme for robot manipulators with flexible joints. By the analysis of the properties of the model of the manipulator and the presented lemma, exponential convergence is ensured which dose not make any assumption on stiffnesses of joints. The uncertaity bounds of parameters are needed to derive the control law. The control input is always continuos and can guarantee global exponential stability of tracking errors. The control scheme is applied to an one link flexible-joint manipulator as an illustrative example.