Proceedings of 1995 34th IEEE Conference on Decision and Control
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This paper presents an extension to elastic joint robots of a well-known result on the quadratic optimization of motion coordination and control obtained for rigid robots. In particular the aim is to minimize, for the set-point case, those applied torques which affect only the kinetic energy, or some linear combination. This problem is also of interest for the disturbance attenuation problem when the control effort is taken into account in the penalty variable