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In this paper a controller design method for flexible joint robots (FJR), considering actuator saturation is proposed and its robust stability is thoroughly analyzed. This method consists of a composite control structure, with a PD controller on the fast dynamics and a PID controller on slow dynamics. Moreover, the need of powerful actuator is removed by decreasing the bandwidth of the fast controller during critical occasions, with the use of a supervisory loop. Fuzzy logic is used in thedoi:10.1109/iros.2005.1545311 dblp:conf/iros/OzgoliT05 fatcat:2piy54iip5fy3drpqk37dv6boa