2024
Workspace Nonlinear Disturbance Observer for Robust Position Control of Flexible Joint Robots
RA-L 2024
Control of tasks by Flexible Joint Robots (FJR) is highly susceptible to disturbances, coupling, and vibrations that result from joint elasticity. A possible solution to this problem is a Disturbance Observer (DOB), which can address these issues in the joint space. However, this approach has limita