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Decoupling and Tracking Control for Elastic Joint Robots with Coupled Joint Structure

Le-Tien, Luc and Alin, Albu-Schäffer (2016) Decoupling and Tracking Control for Elastic Joint Robots with Coupled Joint Structure. Advanced Robotics, pp. 1-20. Taylor & Francis. DOI: 10.1080/01691864.2016.1264886 ISSN 0169-1864

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Official URL: http://www.tandfonline.com/doi/full/10.1080/01691864.2016.1264886


The paper deals with the modeling, identification and control of a flexible joint robot developed for medical applications at the German Aerospace Center (DLR). In order to design anthropomorphic kinematics, the robot uses a coupled joint structure realized by a differential gear-box, which however leads to strong mechanical couplings inside the coupled joints and must be taken into account. Therefore, a regulation MIMO state feedback controller based on modal analysis is developed for each coupled joint pair, which consists of full state feedback (motor position, link side torque, as well as their derivatives). Furthermore, in order to improve position accuracy and simultaneously keep good dynamic behavior of the MIMO state feedback controller, a cascaded tracking control scheme is proposed, based on the MIMO state feedback controller with additional feedforward terms (desired motor velocity, desired motor acceleration, derivative of the desired torque), which are computed in a computed torque controller and take the whole rigid body dynamics into account. Stability analysis is shown for the complete controlled robot. Finally, experimental results with the DLR medical robot are presented to validate the practical efficiency of the approaches.

Item URL in elib:https://elib.dlr.de/108097/
Document Type:Article
Title:Decoupling and Tracking Control for Elastic Joint Robots with Coupled Joint Structure
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Le-Tien, LucLuc.Le-Tien (at) dlr.deUNSPECIFIED
Alin, Albu-SchäfferAlin.Albu-Schäffer (at) dlr.deUNSPECIFIED
Date:25 December 2016
Journal or Publication Title:Advanced Robotics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1080/01691864.2016.1264886
Page Range:pp. 1-20
Publisher:Taylor & Francis
Keywords:Flexible joint robots, MIMO state feedback control, decoupling based control, modal control, tracking control.
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Medizinische Assistenzsysteme
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Le-Tien, Dr. Luc
Deposited On:30 Nov 2016 11:58
Last Modified:06 Sep 2019 15:17

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