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Le-Tien, Luc and 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), pp. 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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Abstract
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.
| Item URL in elib: | https://elib.dlr.de/94080/ | ||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||
| Title: | Improving Tracking Accuracy of a MIMO State Feedback Controller for Elastic Joint Robots | ||||||||||||
| Authors: |
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| Date: | 13 December 2014 | ||||||||||||
| Journal or Publication Title: | IEEE Conference on Decision and Control (ISSN: 0733-8716) | ||||||||||||
| Refereed publication: | Yes | ||||||||||||
| Open Access: | Yes | ||||||||||||
| Gold Open Access: | No | ||||||||||||
| In SCOPUS: | No | ||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||
| DOI: | 10.1109/CDC.2014.7040099 | ||||||||||||
| Page Range: | pp. 4548-4553 | ||||||||||||
| ISSN: | 0733-8716 | ||||||||||||
| ISBN: | 978-1-4673-6088-3/14/$31.00 ©2014 IEEE | ||||||||||||
| Status: | Published | ||||||||||||
| Keywords: | State feedback control, decoupling control, flexible joint robots | ||||||||||||
| Event Title: | IEEE Conference on Decision and Control | ||||||||||||
| Event Location: | Los Angeles, USA | ||||||||||||
| Event Type: | international Conference | ||||||||||||
| Event Start Date: | 13 December 2014 | ||||||||||||
| Event End Date: | 17 December 2014 | ||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||
| HGF - Program: | Space | ||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||
| DLR - Research theme (Project): | R - Robotische Assistenzsysteme (old) | ||||||||||||
| 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: | 07 Jan 2015 14:36 | ||||||||||||
| Last Modified: | 04 Feb 2025 09:25 |
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