today, the use of different types of industrial robots is developing due to the growth of technology and the expansion of research in design and control. Industrial robots are a fundamental component of most modern automation systems. In this paper, we study the dynamic modeling and adaptive control of flexible joint robots (FJR). In this regard, the dynamic model of the robot will be extracted in state space using the Lagrange-Euler method. A new adaptive backstepping control approach is introduced to control FJR motions and improve the adaption and robustness of the nonlinear system. By using this method, variations of the model parameters will not affect the robust performance of the proposed controller. To evaluate the proposed method, MATLAB software is used to simulate a 2-joints FJR model with an adaptive backstepping controller. Based on results the proposed method controls the model property without overshoot, by considering the saturation limit of input control. پرونده مقاله

In this article, we investigate different control methods and control input disturbance removal in the two-link flexible robot. For this purpose, we use the linear feedback control method to control the trajectory tracking of the robot's angle with a nonlinear model by reducing the effects of disturbances in the control signal. The main contribiution of this paper is disturbance rejection that effect on performance of robot. In the end, by analyzing and comparing the obtained results, the best method is selected to control and eliminate the control input disturbance in the flexible two-link robot. To analyze the results of this research, MATLAB software and the system simulation are performed and according to the desired trajectory for the robot arms, the optimum control input for the system is obtained. Based on the results, the proposed control structure controls the model property without overshooting and by considering the saturation limit of input control. پرونده مقاله