Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · 2007 · 43 citations · 13 references
EngineeringMechanical EngineeringRobotics EngineeringMedical RoboticsRobot ControlRoboticsFlexible Robot DynamicsJoint MechanicsJoint StabilityManipulator ControlManipulator DynamicsRobot ManipulatorsAsymptotic StabilityCouplingsFlexible JointsFlexible ManipulatorsJoint DynamicsMechanical CouplingsMimo SystemsState Feedback Control
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 controller. Finally, experimental results with the DLR medical robot are presented.
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