Department of Mechanical;
Industrial&Aerospace Engineering;
Concordia University;
Montreal H3G 1M8;
Canada;
College of Mechanical&Electrical Engineering;
Nanjing University of Aeronautics and Astronautics;
Nanjing 210016;
China;
Department of Electrical and Computer Engineering;
Concordia University;
Montreal H3G 1M8;
Canada;
flexible joint; robotic manipulator; multi-time-scale neural network; singular perturbation; adaptive controller;