Decoupling and tracking control for elastic joint robots with coupled joint structure.

The paper deals with the modeling, identification, and control of a flexible joint robot developed for medical applications at the German Aerospace Center (DLR). In order to design anthropomorphic kinematics, the robot uses a coupled joint structure realized by a differential gearbox, which however leads to strong mechanical couplings inside the coupled joints and must be taken into account. Therefore, a regulation MIMO state feedback controller based on modal analysis is developed for each coupled joint pair, which consists of full state feedback (motor position, link side torque, as well as their derivatives). Furthermore, in order to improve position accuracy and simultaneously keep good dynamic behavior of the MIMO state feedback controller, a cascaded tracking control scheme is proposed, based on the MIMO state feedback controller with additional feedforward terms (desired motor velocity, desired motor acceleration, derivative of the desired torque), which are computed in a computed torque controller and take the whole rigid body dynamics into account. Stability analysis is shown for the complete controlled robot. Finally, experimental results with the DLR medical robot are presented to validate the practical efficiency of the approaches.