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- W2113440156 abstract "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." @default.
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- W2113440156 date "2007-04-01" @default.
- W2113440156 modified "2023-09-27" @default.
- W2113440156 title "MIMO State Feedback Controller for a Flexible Joint Robot with Strong Joint Coupling" @default.
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- W2113440156 doi "https://doi.org/10.1109/robot.2007.364065" @default.
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