Cascaded Control of Flexible-Joint Robots Based on Sliding-Mode Estimator Approach

Figure 8

Joint torque tracking control of joint 1 (large joint compliance). (a) Inner loop joint torque control by direct sliding-mode control. (b) Inner loop joint torque control by sliding-mode estimator (grey solid line = reference joint torque signal; black solid line = real joint torque signal).

(a)

(b)