On Global Trajectory Tracking Control of Robot Manipulators with Flexible Joints

Abstract

Abstract In this paper a novel approach to the global trajectory tracking control problem for manipulators with flexible joints is presented. The dynamic model of such mechanical systems has a cascade structure that allows to decouple the links dynamics from the actuators ones. We propose a design procedure for nonlinear controller with computed feedforward of robot manipulators with revolute joints in a cylindrical phase space. Stability proof of the closed-loop system is given by constructing a Lyapunov function which is periodic on angular coordinates. We illustrate the implementation of the controller using simulation example.