A PID-Type Robust Controller Design for Industrial Robots with Flexible Joints

@article{Lee2006APR,
  title={A PID-Type Robust Controller Design for Industrial Robots with Flexible Joints},
  author={Sang-Hun Lee and Jong-Sung Hur and Hyun-Chul Cho and Jong-Hyeon Park},
  journal={2006 SICE-ICASE International Joint Conference},
  year={2006},
  pages={5905-5910}
}
In this paper, a robust control algorithm is proposed for industrial robots having flexible joints. A link with flexible joint is modeled as a two-mass system, which can be represented in terms of a cascade system. The controller is designed based on a recursive process for the cascade system and the robustness is obtained in each step of the design… CONTINUE READING