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Le-Tien, Luc und Albu-Schäffer, Alin Olimpiu (2014) Improving Tracking Accuracy of a MIMO State Feedback Controller for Elastic Joint Robots. In: IEEE Conference on Decision and Control (ISSN: 0733-8716), Seiten 4548-4553. IEEE Conference on Decision and Control, 2014-12-13 - 2014-12-17, Los Angeles, USA. doi: 10.1109/CDC.2014.7040099. ISBN 978-1-4673-6088-3/14/$31.00 ©2014 IEEE. ISSN 0733-8716.
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Kurzfassung
In this paper a control scheme is addressed to improve the tracking accuracy of flexible joint robots without replacing the structure of a MIMO state feedback controller which is used effectually with the DLR medical robots. By using the desired position, the new desired link torque, as well as their derivatives the effects of nonlinear dynamics are compensated and the tracking accuracy is thereby increased. Hereby, the new desired link torque takes the whole rigid body dynamics into account, not only the friction and gravitation compensation terms. A stability analysis based on the Lyapunov theory and Barbalat’s lemma is given for this new MIMO state feedback control scheme. Experimental results validate the practical efficiency of the approach.
| elib-URL des Eintrags: | https://elib.dlr.de/94080/ | ||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||
| Titel: | Improving Tracking Accuracy of a MIMO State Feedback Controller for Elastic Joint Robots | ||||||
| Autoren: |
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| Datum: | 13 Dezember 2014 | ||||||
| Erschienen in: | IEEE Conference on Decision and Control (ISSN: 0733-8716) | ||||||
| Open Access: | Ja | ||||||
| In SCOPUS: | Nein | ||||||
| In ISI Web of Science: | Ja | ||||||
| DOI: | 10.1109/CDC.2014.7040099 | ||||||
| Seitenbereich: | Seiten 4548-4553 | ||||||
| ISSN: | 0733-8716 | ||||||
| ISBN: | 978-1-4673-6088-3/14/$31.00 ©2014 IEEE | ||||||
| Stichwörter: | State feedback control, decoupling control, flexible joint robots | ||||||
| Veranstaltungstitel: | IEEE Conference on Decision and Control | ||||||
| Veranstaltungsort: | Los Angeles, USA | ||||||
| Veranstaltungsart: | internationale Konferenz | ||||||
| Veranstaltungsbeginn: | 13 Dezember 2014 | ||||||
| Veranstaltungsende: | 17 Dezember 2014 | ||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||
| DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||
| Standort: | Oberpfaffenhofen | ||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme |
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