State feedback controller for flexible joint robots: A globally stable approach implemented on DLR's light-weight robots

Alin Albu-Schäffer; Gerd Hirzinger

doi:10.1109/IROS.2000.893164

State feedback controller for flexible joint robots: A globally stable approach implemented on DLR's light-weight robots

Alin Albu-Schäffer
, Gerd Hirzinger

Deutsches Zentrum für Luft- und Raumfahrt (DLR)

Research output: Contribution to journal › Article › peer-review

86 Scopus citations

Abstract

The paper addresses the problem of controlling the joints of an flexible joint robot with a state feedback controller and proposes a gradual way of extending such a controller towards feedback linearization. The global asymptotic stability for the state feedback controller with gravity compensation is proven. Experimental results on the DLR light-weight robots validate the method.

Original language	English
Pages (from-to)	1087-1093
Number of pages	7
Journal	IEEE International Conference on Intelligent Robots and Systems
Volume	2
DOIs	https://doi.org/10.1109/IROS.2000.893164
State	Published - 2000
Externally published	Yes

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title = "State feedback controller for flexible joint robots: A globally stable approach implemented on DLR's light-weight robots",

abstract = "The paper addresses the problem of controlling the joints of an flexible joint robot with a state feedback controller and proposes a gradual way of extending such a controller towards feedback linearization. The global asymptotic stability for the state feedback controller with gravity compensation is proven. Experimental results on the DLR light-weight robots validate the method.",

author = "Alin Albu-Sch{\"a}ffer and Gerd Hirzinger",

year = "2000",

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AB - The paper addresses the problem of controlling the joints of an flexible joint robot with a state feedback controller and proposes a gradual way of extending such a controller towards feedback linearization. The global asymptotic stability for the state feedback controller with gravity compensation is proven. Experimental results on the DLR light-weight robots validate the method.

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DO - 10.1109/IROS.2000.893164

M3 - Article

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JO - IEEE International Conference on Intelligent Robots and Systems

JF - IEEE International Conference on Intelligent Robots and Systems

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State feedback controller for flexible joint robots: A globally stable approach implemented on DLR's light-weight robots

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