MIMO State Feedback Controller for a Flexible Joint Robot with Strong Joint Coupling

Author

Le Tien, Luc ; Schaffer, Alin Albu ; Hirzinger, Gerd

Author_Institution

German Aerosp. Center, Wessling

fYear

2007

fDate

10-14 April 2007

Firstpage

3824

Lastpage

3830

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

MIMO systems; asymptotic stability; control system synthesis; flexible manipulators; medical robotics; state feedback; DLR medical robot; MIMO state feedback controller; asymptotic stability; differential gear-box; flexible joint robot; joint coupling; modal decoupling based control; multiinput-multioutput design; Couplings; Gravity; Lighting control; MIMO; Medical control systems; Medical robotics; Robot sensing systems; Service robots; State feedback; Torque; MIMO design; flexible joint robots; modal decoupling based control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2007 IEEE International Conference on

Conference_Location

Roma

ISSN

1050-4729

Print_ISBN

1-4244-0601-3

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2007.364065

Filename

4209683