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Workspace trajectory tracking control of flexible joint robots based on backstepping method

This paper addresses the issue of end-effector trajectory tracking control of multi-link flexible joint robot manipulators. A submanifold is designed to describe the ideal trajectory tracking performance. Dynamics of the robot is rewritten in terms of the manifold. Control schemes are derived using backstepping control design approach. Stability of the system is analyzed based on Lyapunov stability theory. Simulations are carried out to on a 2-link flexible robot manipulator. The results demonstrate effectiveness and usefulness of the proposed control method.