# Saturated control without velocity measurements for planar robots with flexible joints

## TL;DR

This paper introduces a passivity-based control method for planar robots with flexible joints that does not rely on velocity measurements and includes saturation, validated through experimental results.

## Contribution

It presents a novel saturated, velocity-measurement-free control approach for flexible-joint planar robots, supported by experimental validation.

## Key findings

- Successful set point regulation without velocity sensors
- Controller stability confirmed through experiments
- Effective handling of flexible joint dynamics

## Abstract

In this work, we propose a passivity-based controller that addresses the problem of set point regulation for planar robots with two links and flexible joints. Moreover, the controller is saturated and does not require velocity measurements. Additionally, we present experiments that corroborate the theoretical results of this note.