Point-to-point regulation of a robot with flexible joints including electrical effects of actuator dynamics

This paper considers the set-point tracking problem in rigid and flexible-joint robots when both the mechanical as well as the electrical effects of the actuator dynamics are taken into account, The suggested controllers are based on state and output feedbacks, The current approach demonstrates that for every given desired operating point, linear state and output feedbacks with constant feedforwards can be constructed such that the closed-loop system is globally asymptotically stable.