A global dynamic output feedback tracking controller for robots having elastic joints is presented. The controller only requires the measurements of position and speed of each link and guarantees the tracking of any bounded reference trajectory. The dynamic part of the proposed controller consists of a reduced order observer which estimates (only in closed loop) the position and the velocity of each motor rotor.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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Nicosia et al. (2002) studied this question.