Date of Award


Degree Type


Degree Name



Electrical and Computer Engineering

First Advisor

El Maraghy, H. A.


Engineering, Mechanical.




In this thesis an acceptable and accurate linear dynamic model for flexible-joint robots was derived and, based on this model, a linear position-tracking controller for a study-case flexible joint robot, which possesses all of the above-mentioned controller properties, was also derived. A linear dynamic model was derived through a linearization of another, proposed, nonlinear dynamic model. This proposed nonlinear dynamic model was a more detailed version of existing nonlinear dynamic models. A form of the proposed linear dynamic model was derived for the study-case robot and simulations were carried out to demonstrate its accuracy and validity. The results of these simulations indicate that the proposed study-case linear dynamic model provides good tracking of the corresponding nonlinear (true) dynamic model, over the entire range of operations. In order to allow the proposed linear model to provide an even better representation of the corresponding nonlinear dynamic model, the linearization error of the proposed linear model was modeled as a stochastic plant disturbance and included in this model. The proposed motion-tracking robust controller was then derived for the study-case robot, based on the proposed linear dynamic model. (Abstract shortened by UMI.)Dept. of Electrical and Computer Engineering. Paper copy at Leddy Library: Theses & Major Papers - Basement, West Bldg. / Call Number: Thesis1999 .C58. Source: Masters Abstracts International, Volume: 39-02, page: 0580. Adviser: Hoda A. El Maraghy. Thesis (M.A.Sc.)--University of Windsor (Canada), 1999.