Lyapunov Based Control of Multiple Flexible Joint Robots in Cooperative Motion

In this paper, we address the problem of controlling multiple flexible joint robots manipulating a common load cooperatively. The load position and velocity tracking errors are shown to converge to zero. The internal forces exerted on the load are also shown to converge to their desired trajectories. Asymptotic stability of the system is insured regardless of the joint flexibility and despite the fact that force sensors mounted on the robot wrist are not employed