OUTPUT REGULATION FOR FLEXIBLE-JOINT MANIPULATORS USING PARTIAL STATEMEASUREMENT

A linear-state feedback regulator for flexible-joint manipulators is p roposed. The link-position vector (in the joint space) is regulated to a given desired position using partial state measurement. The actuato r-position vector is regulated to a certain equilibrium point related to the link-desired position. This work uses our earlier result [1] wh ich puts the gravity vector of the robot dynamic model in a new specif ic form. The: fact that the spring matrix representing joint flexibili ty is of high order of magnitude [3-5] is exploited to prove the globa l asymptotic stability of the origin of the closed loop system.