POINT-TO-POINT REGULATION OF A ROBOT WITH FLEXIBLE JOINTS INCLUDING ELECTRICAL EFFECTS OF ACTUATOR DYNAMICS

This paper considers the set-point tracking problem in rigid and flexi ble-joint robots when both the mechanical as well as the electrical ef fects of the actuator dynamics are taken into account, The suggested c ontrollers are based on state and output feedbacks, The current approa ch demonstrates that for every given desired operating point, linear s tate and output feedbacks with constant feedforwards can be constructe d such that the closed-loop system is globally asymptotically stable.