Szukana fraza: [Abstract = This paper addresses motion and force control issues of flexible joint robots in constrained motion. A two\-stage control scheme, consisting of a constrained motion controller and a joint torque controller, is established in a systematic way for general n\-link flexible joint robots. To deal with uncertainties in the parameters of the robotic system, adaptive and robust control algorithms are developed assuming that all system parameters, including the joint flexibility values, are unknown except for some of their bounds.]

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