This paper presents a position control scheme for flexible joint robot based on online gravity compensation (OGC). After concluding some drawbacks of OGC-based PD control law, a nonlinear state feedback controller is designed, where analysis for overshoots of motor side and residual vibration of link side is provided. It is shown that asymptotic stability is guaranteed, and each signal of closed loop system is proved to be bounded via Lyapunov method. Comparing experiment results illustrate effectiveness of the proposed approach.

中文翻译：

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基于在线重力补偿和振动抑制的柔性关节机器人位置控制

本文提出了一种基于在线重力补偿（OGC）的柔性关节机器人位置控制方案。在总结了基于OGC的PD控制律的一些缺陷后，设计了一种非线性状态反馈控制器，对电机侧的超调量和连杆侧的残余振动进行了分析。证明了渐近稳定性是有保证的，并且通过李雅普诺夫方法证明了闭环系统的每个信号都是有界的。比较实验结果说明了所提出方法的有效性。