Control of Flexible Joint Manipulator via Reduced Rule-Based Fuzzy Control with Experimental Validation

Table 1

System parameters.

Symbol	Quantity	Value
𝑅𝑚	Armature resistance (Ω)	2.6
𝐾𝑚	Motor back-EMF constant (V⋅rad/S)	0.00767
𝐾𝑡	Motor torque constant (N⋅M/A)	0.00767
𝐽Arm	Total arm inertia (kg⋅m^2)	0.0035
𝐽eq	Equivalent inertia (kg⋅m^2)	0.0026
𝐾𝑔	High gear ratio	14:5
𝐾stiff	Joint stiffness	1.2485
𝐵eq	Equivalent viscous damping (N.M.S/rad)	0.004
𝜂𝑔	Gearbox efficiency	0.9
𝜂𝑚	Motor efficiency	0.69