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The resulting externally linearized and input\u2010output decoupled closed\u2010loop system contains a linear subsystem and a nonlinear subsystem. The linear part describing the rigid motor motions is suitable for the design of nominal trajectory following control. However, the nonlinear joint deformation subsystem will cause perturbations in the nominal trajectory. To actively damp out the elastic vibrations and to render the complete closed\u2010loop system robust to uncertainty in system parameters, a combined LQR stabilizer and servocompensator is used as the internal stabilization and error correcting control. The tracking errors of the end effector caused by the quasi\u2010static joint deflections due to gravity can be compensated for by taking into account the nominal deflections in the trajectory planning and LQ regulation. A three\u2010link PUMA type arm is tested via simulation.<\/jats:p>","DOI":"10.1002\/rob.4620070102","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T09:33:00Z","timestamp":1183714380000},"page":"1-22","source":"Crossref","is-referenced-by-count":13,"title":["Control of flexible joint robots via external linearization approach"],"prefix":"10.1002","volume":"7","author":[{"given":"Lih\u2010Chang","family":"Lin","sequence":"first","affiliation":[]},{"given":"King","family":"Yuan","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140707"},{"key":"e_1_2_1_3_2","unstructured":"E. I.Rivin \u201cEffective Rigidity of Robot Structure: Analysis and Enhancement \u201d inProc. of the 1985 American Control Conf. 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