MODEL-BASED CONTROL OF RIGID-LINK FLEXIBLE-JOINT ROBOTS - AN EXPERIMENTAL EVALUATION

In this paper, we present an experimental evaluation of several link p osition tracking control algorithms for rigid-link flexible-joint robo t manipulators. To study the performance of the controllers, an IMI 2- link direct-drive planar robot manipulator was modified to approximate linear torsional spring couplings from the actuators to the links. Pr eliminary experimental results seem to indicate that reduced-order, mo del-based controllers with an actuator feedback loop provide relativel y good link position tracking while a full-order, model-based controll er offers some further improvement in link position tracking at the ex pense of increased computation.