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A decoupled control method based on MIMO system for flexible manipulators with FS-SEA
Chen P(陈鹏); Li HY(李洪谊)
Department机器人学研究室
Conference Name2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Conference DateDecember 6-9, 2015
Conference PlaceZhuhai, China
Source PublicationProceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages662-667
Indexed ByEI ; CPCI(ISTP)
EI Accession number20161802328179
WOS IDWOS:000380476200111
Contribution Rank1
ISBN978-1-4673-9674-5
AbstractA 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.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/18617
Collection机器人学研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
Recommended Citation
GB/T 7714
Chen P,Li HY. A decoupled control method based on MIMO system for flexible manipulators with FS-SEA[C]. Piscataway, NJ, USA:IEEE,2015:662-667.
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