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Improving Tracking Accuracy of a MIMO State Feedback Controller for Elastic Joint Robots

Le-Tien, Luc and Albu-Schäffer, Alin (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, 13. Dec. - 17. Dec. 2014, Los Angeles, USA. ISBN 978-1-4673-6088-3/14/$31.00 ©2014 IEEE ISSN 0733-8716

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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/
Document Type:Conference or Workshop Item (Speech)
Title:Improving Tracking Accuracy of a MIMO State Feedback Controller for Elastic Joint Robots
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Le-Tien, LucLuc.Le-Tien (at) dlr.deUNSPECIFIED
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 ISI Web of Science:Yes
Page Range:pp. 4548-4553
ISBN:978-1-4673-6088-3/14/$31.00 ©2014 IEEE
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 Dates:13. Dec. - 17. Dec. 2014
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 - 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:31 Jul 2019 19:51

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