The aim of this project is to analyse the Elastic Structure Preserving (ESP) control technique that helps in assigning a damped behaviour to robot manipulators with elastic transmissions in order to avoid the typical oscillatory behaviours.

The simulatons have been done in Matlab/Simulink and the control technique has been implemented on a 3R planar robot with nonlinear elastic transmissions which lays on a vertical plane. Moreover, we have considered the linear elastic trasmission case in which we have assigned also a desired stifness in order ot be able to shape properly the inertia of the robot in the closed-loop behaviour. In all the simulations the control techiniques have been compared to a simple PD law with gravity compensation in order to highlight the capability of the control of avoiding oscillatory behaviours.

1. The main.m regards the implementation and comparison of the ESP and ESP+ control techinques in the nonlinear elastic transmission case.
2. The main_linear.m regards the implementation and comparison of the ESP and ESP+ control techinques in the linear elastic transmission case.

1. planar_3R_u_ESP.slx, planar_3R_u_ESPp.slx and planar_3R_u_PD.slx are the block schemes regarding the nonlinear elastic transmission case.
2. ESP_linear_stiff.slx and ESPp_linear_stiff.slx are the block schemes regarding the linear elastic transmission case.