Position control of a velocity controlled robot with compliant end effector using modal decoupling

This paper discusses the position control of a velocity controlled robot with compliant end effector using modal decoupling. Recent research has shown promising positioning and tracking results if a flexible one link robot is equipped with a velocity controlled actuator, together with an independent state feedback (ISF) of the rigid body mode and the flexible mode. The controller proposed extends the ISF controller to the case of a robot with multiple degrees of freedom (DOF) end-effector compliance. This multi-DOF system is transformed into a set of SISO-systems using modal decoupling. The ISF-approach is then applied to each of the SISO-system