Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot

Table 1

Link and spring properties.

Parameters	Nominal values	Tolerance
Joint stiffness	𝑎1=3.35	1.5%
	𝑎3=−0.16	97%
Link Length	𝐿=0.53	6%
Link mass	𝑀=0.12	9%
Gravity coefficient	𝑔=9.8	1%
Inertia	𝐼=0.083	4%