中文摘要：

传统的奇异摄动方法仅适用于关节具有弱柔件的机器人的控制．为了解决这一问题，设计了关节柔性补偿器，大大提高了关节的等效刚度，从而消除了关节柔性对该方法的限制，使得奇异搬动方法能够应用于关节具有一般柔性的机器人系统中．此外，对于慢子系统的控制，选择以投影算法作为参数估计规律的自适应控制器，并证明了它的渐近稳定性．该控制策略没有关节柔性限制，不需要连杆加速度及其微分信号，便于工程应用．最后以本实验室的柔性关节机器人为研究对象进行了实验研究，验证了所提控制策略的有效性和可行性．

英文摘要：

Traditional singular perturbation apprbach can only be used in robot systems with weak joint flexibility. In order to solve this problem, a joint flexibility compensator is designed, which can greatly increase the equivalent joint stiffness, so the limitation of joint flexibility for singular perturbation approach is eliminated and the approach can be extended to the robot system with normal joint flexibility. Besides, an adaptive controller with projection algorithm as parameter estimation law is designed for the slow subsystem control and its asymptofical stability is proved. The control strategy can be applied conveniently in engineering without any joint flexibility limitation and does not need link acceleration or its differential signal. Finally, an experimental study on the flexible joint manipulator is executed and the results verify the validity and feasibility of the proposed strategy.