Linear robust motion control of flexible joint robots. I. Modeling

This paper presents a realistic linear and comprehensive model for flexible joint robot manipulators to be used in designing robust robot motion controllers. Unlike most of existing models, the proposed model includes the effects of stick-slip friction, and of the rotors´ coriolis and centrifugal acceleration due to the velocities of the precedent links and rotors. In addition, this model uses a nonlinear spring force deflection curve and takes into account the unmodeled dynamics and measurement noise. Extensive simulations were performed on an experimental flexible joint robot and the results demonstrate that the proposed linear model outperforms the classical linear models in tracking its corresponding detailed nonlinear model