A decoupled control method based on MIMO system for flexible manipulators with FS-SEA

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.

[1]  Alin Albu-Schäffer,et al.  On the Passivity-Based Impedance Control of Flexible Joint Robots , 2008, IEEE Transactions on Robotics.

[2]  J.W. Sensinger,et al.  Improvements to Series Elastic Actuators , 2006, 2006 2nd IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications.

[3]  Matthew M. Williamson,et al.  Series elastic actuators , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[4]  Chien-Liang Fok,et al.  Actuator Control for the NASA‐JSC Valkyrie Humanoid Robot: A Decoupled Dynamics Approach for Torque Control of Series Elastic Robots , 2015, J. Field Robotics.

[5]  Abhinandan Jain,et al.  Spatial Operator Algebra for multibody system dynamics , 1992 .

[6]  Alin Albu-Schäffer,et al.  State feedback damping control for a multi DOF variable stiffness robot arm , 2011, 2011 IEEE International Conference on Robotics and Automation.

[7]  Darwin G. Caldwell,et al.  A nonlinear series elastic actuator for highly dynamic motions , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Gordon Wyeth,et al.  Demonstrating the safety and performance of a velocity sourced series elastic actuator , 2008, 2008 IEEE International Conference on Robotics and Automation.

[9]  Joel E. Chestnutt,et al.  The Actuator With Mechanically Adjustable Series Compliance , 2010, IEEE Transactions on Robotics.

[10]  J.W. Sensinger,et al.  Unconstrained Impedance Control Using a Compact Series Elastic Actuator , 2006, 2006 2nd IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications.

[11]  Robert O. Ambrose,et al.  Robonaut 2 - The first humanoid robot in space , 2011, 2011 IEEE International Conference on Robotics and Automation.

[12]  Gordon Wyeth,et al.  Control issues for velocity sourced series elastic actuators , 2006 .

[13]  Sunil Agrawal,et al.  Series elastic actuator control of a powered exoskeleton , 2011, 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[14]  Martin Buss,et al.  Passive and accurate torque control of series elastic actuators , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[15]  Abhinandan Jain.  Unified formulation of dynamics for serial rigid multibody systems , 1991 .