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MIMO State Feedback Controller for a Flexible Joint Robot with Strong Joint Coupling

MIMO State Feedback Controller for a Flexible Joint Robot with Strong Joint Coupling. Luc Le Tien, Alin Albu Schaeffer, and Gerd Hirzinger German Aerospace Center (DLR). Modeling and control of a robot with flexible joints

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MIMO State Feedback Controller for a Flexible Joint Robot with Strong Joint Coupling

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  1. MIMO State Feedback Controller for a Flexible Joint Robot with Strong Joint Coupling Luc Le Tien, Alin Albu Schaeffer, and Gerd HirzingerGerman Aerospace Center (DLR) • Modeling and control of a robot with flexible joints • Multi-input-multi-output (MIMO) design for the strongly coupled joints in modal coordinates • Asymptotic stability is shown for the MIMO controller • Experimental results with the DLR medical robot are presented DLR medical robot

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