Robust Joint Torque Control for Lightweight Robots Using Sliding Mode Estimator

For high performance robots such as space or medicine robots, joint torque control is one of the key issues of the dynamic control aspect. A practical solution for robots with more or less joint flexibility is to implement a joint torque controller with fast enough dynamic response. This paper is dedicated to design such a torque controller using traditional control technique enhanced by a sliding mode estimator (SME). With this control approach, the robustness and the accuracy of the control system can be preserved, despite a high level of system uncertainties and disturbances