A decoupled control method based on MIMO system for flexible manipulators with FS-SEA

A novel decoupled control method based on MIMO system is proposed for FS-SEA (force sourced series elastic actuator) flexible manipulators. The joint output angles of the flexible manipulator and the deformation angles of the flexible mechanisms are chosen as the state quantities of the system, and a new decoupled control law is designed, which makes the proposed method achieve high tracking accuracy and very strong disturbance rejection ability. The simulations are carried out to verify the control method proposed in this paper that is compared with DLR´s control method proposed in 2011 and PD feedback computed torque method respectively. The comparison results illustrate that the control method proposed in this paper has an outstanding performance.