MIMO State Feedback Controller for a Flexible Joint Robot with Strong Joint Coupling
- 1 April 2007
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE) in Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (cat. No.01ch37164)
- No. 10504729,p. 3824-3830
- https://doi.org/10.1109/robot.2007.364065
Abstract
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.Keywords
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