Iterative regulation of an electrically driven flexible-joint robot with model uncertainty

This study considers the set-point regulation Control problem of rigid and flexible-joint electrically driven robots with model uncertainties and unkn own payloads. The proposed control scheme is based on simple linear state a nd output feedbacks. The resulting controller can also be implemented in a case where the current signal is not measurable. Applications of the approa ch when the Coulomb friction forces are taken into account have also been c onsidered.