Adaptive control of flexible joint manipulators: Comments on two papers

  title={Adaptive control of flexible joint manipulators: Comments on two papers},
  author={Mark W. Spong},
We discuss two papers [Spong, M. W. (1989) Sysf. Control. Len., l3, 15-21; Chang, Y.-Z. and R. W. Daniel (1992) Automatica, 28, %9-9741 on the adaptive control of flexible joint robot manipulators. Our goal is to clarify the contributions of the two papers by correcting some technical errors and to provide some additional insight into the application of singular perturbation methods for the control of flexible joint robots. 
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