This paper proposes a model-based control of flexible-joint flexible-link robots based on a V-shape Lyapunov function. The proposed control solves the control problems of the joint and link flexibility simultaneously and is not restricted by the degree of the flexibility. The proposed control guarantees the global asymptotic stability for the position and velocity control of the links and joints with all internal signals bounded. The effectiveness of the proposed control has been shown by computer simulation.

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