Simple robust tracking controller for rigid link flexible joint robots using only joint position and velocity measurements

A simple robust controller to make joint positions track desired trajectories is developed. The proposed controller requires only joint position and velocity measurements and doesn't require any information of unknown parameters. The construction of the proposed controller is very simple and is suitable for real-time implementation. Moreover, it is proved to be able to make the norm of tracking error arrive to any small closed region in the neighborhood of the origin by setting only one design parameter.