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The purpose of this paper is to investigate behaviors of elastic joint robots driven by various types of controllers against external disturbances applied to them. The elasticity is introduced intentionally by installing elastic devises in their transmission. We consider about four types of controllers, commonly used to control elastic joint robots. We investigate the role of the compliance introduced by the mechanisms and the controllers and show numerical simulations.

RESPONSE CHARACTERISTICS OF ELASTIC JOINT ROBOTS DRIVEN BY VARIOUS TYPES OF CONTROLLERS AGAINST EXTERNAL DISTURBANCES