Nonlinear state feedback position control for flexible joint robot with energy shaping

This paper presents a position control scheme for flexible joint robot (FJR). Traditional energy shaping controller with gravity compensation is revisited first and some drawbacks are analyzed; on this basis, a nonlinear state feedback controller along with energy shaping is provided, which can enhance the residual vibration suppression and reduce the overshoots of motor position. Boundedness analysis is presented and global convergence is analytically proven. Experiment results illustrate effectiveness of the proposed scheme.