A General Algorithm for Dynamic Feedback Linearization of Robots with Elastic Joints

For a general class of robots with elastic joints, we in-troduce an inversion algorithm for the synthesis of a dynamic feedback control law that gives input-output decoupling and full state linearization. Control de-sign i s performed directly on the second-order robot dynamic equations. The linearizing control law i s ex-pressed in terms of the original model components and of their time derivatives, allowing an eficient organi-zation of computations. A tight upper bound for the dimension of the needed dynamic compensator is also obtained.