This book focuses on the modeling and control of elastic robot joints for which each axis of the robotic manipulator is controlled as a single-input-single-output (SISO) system with disturbances, otherwise known as independent joint control. It also shows how to account for joint elasticities in a centralized controller when treating the robotic manipulator as a coupled multiple-input-multiple-output (MIMO) system. The book analyzes modeling and control solutions, supported by specially elaborated simulation examples and an experimental case study.
Introduction. Modeling Preliminaries. Linear Elastic Robot Joint. Nonlinear Elastic Robotic Joint. Standard Joint Control. Advanced Control of Joint Elasticity. Case Study: Single Elastic Joint with Nonlinearities. Conclusions. Appendices. Index.
