Title :
State feedback controller for flexible joint robots: a globally stable approach implemented on DLR´s light-weight robots
Author :
Albu-Schaffer, Alin ; Hirzinger, Gerd
Author_Institution :
Aerosp. Res. Center, DLR Oberfaffenhofen, Germany
Abstract :
Addresses the problem of controlling the joints of a 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
Keywords :
asymptotic stability; compensation; control system synthesis; robots; state feedback; DLR light-weight robots; feedback linearization; flexible joint robots; global asymptotic stability; globally stable approach; gravity compensation; state feedback controller; Bandwidth; Elasticity; Lighting control; Linear feedback control systems; Manipulator dynamics; Orbital robotics; Robot sensing systems; Service robots; State feedback; Torque control;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.893164
