Contril of rigid‐link, flexible‐joint robots:a survey of backstepping approaches

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Abstract
The purpose of this article is to show how the design procedure commonly referred to as integrator backstepping can be used to design globally stable trajectory tracking controllers for Rigid‐Link Flexible‐Joint (RLFJ) robot manipulators. Three different types of controllers are developed: (1) an exact model knowledge‐based controller, (2) an adaptive controller that compensates for parametric uncertainty, and (3) a robust controller that compensates for parametric uncertainty and unknown bounded disturbances. All three controllers are based on previously published work but are presented here in a unifying framework. ©1995 John Wiley & Sons, Inc.

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