Dòng Nội dung
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MIMO state feedback controller with LuGre-model based friction compensation for elastic joint robots with couple joint structure / Luc Le-Tien, Alin Albu-Schäffer // Tạp chí Tự động hóa ngày nay . - 2014. - P. 3-10. - ISSN:


8 p.
Ký hiệu phân loại (DDC): 621
The paper describes the modeling and control of a robot with flexible joints (the DLR medical robot), which has strong mechaical couplings between paris of joints relized with differential gear-boxes. Because of these couplings, 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 by using the Lyapunov theory and the LaSalle lemma. Finally, experimental results with the DLR medical robot are presented to validate the practical efficiency of the approach.
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