ROBUST POSITION CONTROL SYSTEM OF FLEXIBLE JOINT ROBOTS

A system for controlling a flexible joint robot includes a control input dimension conversion part configured to receive a control input of a robot and convert the Cartesian coordinate system of the control input to the rotating workspace coordinate system; an entire flexible joint robot dynamics part configured to receive the control input and a disturbance and output a control output by multiplying the control input reflecting the disturbance by at least one determinant; and a disturbance observer configured to reflect the estimated disturbance in the control input by calculating an estimated disturbance obtained by estimating the disturbance, wherein the disturbance observer includes a mutual reaction force removal part including a determinant for removing mutual reaction force between joints of the robot; a low-pass filter; and an estimated-disturbance dimension conversion part.