This article is an historical overview of control theory applied to robotic manipulators, with an
emphasis on the early fundamental theoretical foundations of robot control. It discusses …

This article concentrates on the adaptive neural control approach of-link flexible-joint
electrically driven robots. The presented control method only needs to know the position and …

A SURVEY ON THE CONTROL OF FLEXIBLE JOINT ROBOTS Page 1 332 Asian Journal of
Control, Vol. 8, No. 4, pp. 332-344, December 2006 Manuscript received May 5, 2004; revised …

In this paper, a feedback linearization (FL)-based control law made implementable using an
extended state observer (ESO) is proposed for the trajectory tracking control of a flexible …

Nowadays, the control technology of the robotic manipulator with flexible joints (RMFJ) is not
mature enough. The flexible-joint manipulator dynamic system possesses many …

By the dawn of the new millennium, robotics has undergone a major transf-mation in scope
and dimensions. This expansion has been brought about by the maturity of the? eld and the …

A basic problem in the control system theory is the mathematical modeling of a physical
system. The modeling of many systems calls for high-order dynamic equations. The …

Abstract Design issues, dynamic modeling, trajectory planning, and feedback control
problems are presented for robot manipulators having components with mechanical …

This paper deals with the problem of mechanical resonance in modern servo drive systems
having the speed control loop bandwidth and resonance frequency above 100 Hz. To …

A new approach to the accurate attitude tracking control of rigid spacecraft handling large
loads of unknown mass properties is proposed. The method, based on the construction of a …