Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models (Q674945)

The set-point regulation problem of a flexible-joint robot with unknown parameters (a set of possible values of these uncertainties is known) using only position measurements is investigated. The proposed iterative procedures guarantee that every system response converges to an arbitrarily small neighborhood of the equilibrium point. It has been shown that in the rigid robot case, the rate of convergence in each iteration can be made arbitrarily fast. In the case of the flexible-joint robot, the rate of convergence can be tuned by the user in some well-defined range, but can't be made arbitrarily high. The proposed algorithms are based on the global contraction mapping theorem.