Nonlinear control laws for a 2 flexible link robot: comparison of applicability domains

The authors propose a nonlinear control law defined to minimize the variation of the performances of the robot whatever the location of the trajectory in the workspace. It takes elastic deflections into account, and minimizes the norm of the difference between the real behavior and the desired behavior of the robot. A method for calculating the gain is proposed, and the results are compared with the linear control laws. The applicability domains on both control laws are considered, and robustness is studied.<
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