DocumentCode
2746738
Title
State feedback controller for flexible joint robots: a globally stable approach implemented on DLR´s light-weight robots
Author
Albu-Schaffer, Alin ; Hirzinger, Gerd
Author_Institution
Aerosp. Res. Center, DLR Oberfaffenhofen, Germany
Volume
2
fYear
2000
fDate
2000
Firstpage
1087
Abstract
Addresses the problem of controlling the joints of a flexible joint robot with a state feedback controller and proposes a gradual way of extending such a controller towards feedback linearization. The global asymptotic stability for the state feedback controller with gravity compensation is proven. Experimental results on the DLR light-weight robots validate the method
Keywords
asymptotic stability; compensation; control system synthesis; robots; state feedback; DLR light-weight robots; feedback linearization; flexible joint robots; global asymptotic stability; globally stable approach; gravity compensation; state feedback controller; Bandwidth; Elasticity; Lighting control; Linear feedback control systems; Manipulator dynamics; Orbital robotics; Robot sensing systems; Service robots; State feedback; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location
Takamatsu
Print_ISBN
0-7803-6348-5
Type
conf
DOI
10.1109/IROS.2000.893164
Filename
893164
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