TY - GEN
T1 - MIMO state feedback controller for a flexible joint robot with strong joint coupling
AU - Le Tien, Luc
AU - Schäffer, Alin Albu
AU - Hirzinger, Gerd
PY - 2007
Y1 - 2007
N2 - The paper describes the modeling and control of a robot with flexible joints (the DLR medical robot), which has strong mechanical couplings between pairs of joints realized with a differential gear-box. Because of this coupling, controllers developed before for the DLR light-weight robots cannot be directly applied. The previous control approach is extended in order to allow a multi-input-multi-output (MIMO) design for the strongly coupled joints. Asymptotic stability is shown for the MIMO controller. Finally, experimental results with the DLR medical robot are presented.
AB - The paper describes the modeling and control of a robot with flexible joints (the DLR medical robot), which has strong mechanical couplings between pairs of joints realized with a differential gear-box. Because of this coupling, controllers developed before for the DLR light-weight robots cannot be directly applied. The previous control approach is extended in order to allow a multi-input-multi-output (MIMO) design for the strongly coupled joints. Asymptotic stability is shown for the MIMO controller. Finally, experimental results with the DLR medical robot are presented.
KW - Flexible joint robots
KW - MIMO design
KW - Modal decoupling based control
UR - http://www.scopus.com/inward/record.url?scp=36349019852&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2007.364065
DO - 10.1109/ROBOT.2007.364065
M3 - Conference contribution
AN - SCOPUS:36349019852
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3824
EP - 3830
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -