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题名: A decoupled control method based on MIMO system for flexible manipulators with FS-SEA
作者: Chen P(陈鹏); Li HY(李洪谊)
作者部门: 机器人学研究室
会议名称: 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
会议日期: December 6-9, 2015
会议地点: Zhuhai, China
会议录: Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 662-667
收录类别: EI ; CPCI(ISTP)
ISBN号: 978-1-4673-9674-5
摘要: A novel decoupled control method based on MIMO system is proposed for FS-SEA (force sourced series elastic actuator) flexible manipulators. The joint output angles of the flexible manipulator and the deformation angles of the flexible mechanisms are chosen as the state quantities of the system, and a new decoupled control law is designed, which makes the proposed method achieve high tracking accuracy and very strong disturbance rejection ability. The simulations are carried out to verify the control method proposed in this paper that is compared with DLR's control method proposed in 2011 and PD feedback computed torque method respectively. The comparison results illustrate that the control method proposed in this paper has an outstanding performance.
语种: 英语
产权排序: 1
WOS记录号: WOS:000380476200111
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/18617
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Chen P,Li HY. A decoupled control method based on MIMO system for flexible manipulators with FS-SEA[C]. 见:2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Zhuhai, China. December 6-9, 2015.
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文件名: A decoupled control method based on MIMO system for flexible manipulators with FS-SEA.pdf
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