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

@article{Tien2007MIMOSF,
  title={MIMO State Feedback Controller for a Flexible Joint Robot with Strong Joint Coupling},
  author={Luc Le Tien and Alin Albu-Sch{\"a}ffer and Gerd Hirzinger},
  journal={Proceedings 2007 IEEE International Conference on Robotics and Automation},
  year={2007},
  pages={3824-3830}
}
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… CONTINUE READING
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