Joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. Most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. The problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

the rank-k numerical range has a close connection to the construction of quantum error correction code for a noisy quantum channel. for noisy quantum channel, a quantum error correcting code of dimension k exists if and only if the associated joint rank-k numerical range is non-empty. in this paper the notion of joint rank-k numerical range is generalized and some statements of [2011, generaliz...