A Novel Full State Feedback Decoupling Controller For Elastic Robot Arm
Hongxi Zhu,Ulrike Thomas,Hongxi Zhu,Ulrike Thomas
In this paper a novel full state feedback approach for control of compliant actuated robot with nonlinear spring characteristics is presented. A multi-DOF elastic robot arm is a multi-input multi-output (MIMO) under-actuated system. By the new novel controller, which is based on motor coordinate transformation and motor inertia shaping, the MIMO system can be converted into a set of decoupled sing...
