[Submitted on 15 Jul 2026]
Title:Adaptive Control of Motor-Position-Controlled Flexible Joint Robots with Uncertain Joint Stiffness
View a PDF of the paper titled Adaptive Control of Motor-Position-Controlled Flexible Joint Robots with Uncertain Joint Stiffness, by Annika Kirner and 5 other authors
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Abstract:Model-based control of flexible joint robots with position-controlled actuators relies on accurate knowledge of the joint compliance. In practice, precise stiffness models are often unavailable as the properties of physical elastic elements vary with operating conditions and slowly change over time due to wear and aging. To improve model-based control of these systems, we propose an adaptive control approach in this work, which updates an estimate of the uncertain, nonlinear torque-deflection relation of each joint. As opposed to classical adaptive control approaches for non-elastic robots, we rely on an implicit control law and a control-input-dependent regressor matrix to account for the uncertain joint stiffness. We analyze robustness of the approach against errors induced by the motor position controller. Experimental results on a flexible joint with nonlinear stiffness characteristics demonstrate the effectiveness of the proposed approach.
Comments: Accepted for publication at the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2026)
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2607.14177 [cs.RO]
(or arXiv:2607.14177v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2607.14177
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Annika Kirner [view email] [v1] Wed, 15 Jul 2026 12:53:04 UTC (1,693 KB)
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