CONTROL OF FLEXIBLE JOINT ROBOT MANIPULATORS BY COMPENSATING FLEXIBILITY

[1] B. Brogliato, R. Ortega and R. Lozano, Global tracking controllers for flexible-joint manip-
ulators: a comparative study, Automatica, 31(7) (1995), 41{956.
[2] L. L. Chang and C. C. Chuan, Rigid model-based fuzzy control of flexible-joint manipulators,
J. Intell. Robot. Syst., 13(2) (1995), 107{126.
[3] A. De Luca and L. Lanari, Robots with elastic joints are linearizable via dynamic feedback,
In: 34th IEEE Conf. on Decision and Control, New Orleans, LA, 1995.
[4] A. De Luca, B. Siciliano and L. Zollo, PD control with on-line gravity compensation for robots
with elastic joints: Theory and experiments for robots with elastic Joints, Automatica., 41
(2005), 1809{1819.
[5] M. M. Fateh, S. M. Ahmadi and S. Khorashadi zadeh, adaptive RBFN network control for
robot manipulators, Journal of AI and Data Mining, 2(2) (2014), 159-156.
[6] M. M. Fateh, Decentralized direct adaptive fuzzy control for flexible joint robots, CEAI, 15
(2013), 97{105.
[7] M. M. Fateh, Decentralized direct adaptive fuzzy control of robots using control voltage strat-
egy, Nonlinear Dynamics,70 (2012), 1919{1930.
[8] S. H. Hsua and L. C. Fua, A fully adaptive decentralized control of robot manipulators,
Automatica, 42 (2006), 1761{1767.
[9] A. Kugi, C. Ott, A. Albu-Schaffer and G. Hirzinger, On the Passivity-Based Impedance
Control of Flexible Joint Robots, IEEE Trans. Robot. Autom, 24(2) (2008), 416{429.
[10] T. H. S. Li and Y. C. Huang, MIMO adaptive fuzzy terminal sliding-mode controller for
robotic manipulators, Information Sciences, 180(23) (2010), 4641{4660.
[11] T. S. Li, S. C. Tong and G. Feng, A novel robust adaptive fuzzy tracking control for a class of
nonlinear multiinput/ multi-output systems, fuzzy systems, IEEE Trans. Fuzzy Syst, 18(1)
(2010), 150{160.
[12] P. Shendge and V. Suryawanshi, Sliding Mode Control for Flexible Joint using Uncertainty
and Disturbance Estimation, Proceedings of the World Congress on Engineering and Com-
puter Science WCECS , San Francisco, USA, 2011.
[13] Y. Shen, W.J. Cai and S. Li, Multivariable process control: decentralized, decoupling, or
sparse, Ind. Eng. Chem. Res, 49 (2010), 761{771.
[14] H. Seraji, Decentralized adaptive control of manipulators: theory, simulation, and experi-
mentation, IEEE Trans. Robot. Autom, 5 (1989), 183{200.
[15] J. Soltine and W. Li, Applied nonlinear control, Prentice Hall, 1991.
[16] M. W. Spong, S. Hutchinson and M. Vidyasagar, Robot Modelling and Control, Wiley, New
York, 2006.
[17] M. W. Spong, Adaptive control of flexible joint manipulators: comments on two papers.
Automatica, 31(4) (1995), 585{590.
[18] M. W. Spong, Modeling and control of elastic joint robots, J. Dyn. Syst. Meas. Control, 109
(1987), 310{319.

[19] L. M. Sweet and M. C. Good, Redenition of the robot motion control problem, IEEE Control
Syst. Mag, 5(3) (1985), 18{24.
[20] E. Talole, P. Kolhe and B. Phadke, Extended state observer based control of flexible joint
system with experimental validation, IEEE Trans. Ind. Electron, 57(4) (2009), 1411{1419.
[21] P. Tomei, A simple PD controller for robots with elastic Joints, IEEE Trans. Autom. Control,
36(10) (1991), 1208{1213.
[22] S. Tong, Y. Li and Y. Liu, Observer-based adaptive fuzzy backstepping control for a class of
stochastic nonlinear strict-feedback systems, IEEE Trans. Syst. Man Cybern, Part B, Cybern,
41(6) (2011), 1693{1704.
[23] S. Tong, H. X. Li and W. Wang, Observer-based adaptive fuzzy control for SISO nonlinear
systems, Fuzzy Sets Syst., 148(3) (2004), 355{376.
[24] S. Tong, C. Liu and Y. Li, Fuzzy adaptive decentralized output-feedback control for large-scale
nonlinear systems with dynamical uncertainties, IEEE Trans. Fuzzy Syst, 18(5) (2010), 845{
861.
[25] L. X. Wang, A Course in Fuzzy Systems and Control, Prentice Hall, Englewood Cliffs, 1996.
[26] D. Wang, A simple iterative learning controller for manipulators with flexible joints, Auto-
matica, 31(9) (1995), 1341{1344.
[27] J. S. Yeon, J. H. Park and S. H Lee, Practical Robust Control Of Flexible Joint Robot
Manipulators, 17th World Congress: The International Federation of Automatic Control,
Seoul, Korea, 2008.
[28] V. Zeman, R. V Patel and K. Khorasani, Control of a flexiblejoint robot using neural net-
works, IEEE Trans. Control Syst. Technol, 5(4) (1997), 453{462.