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State Feedback Damping Control For A Multi DOF Variable Stiffness Robot Arm

Petit, Florian and Albu-Schäffer, Alin (2011) State Feedback Damping Control For A Multi DOF Variable Stiffness Robot Arm. In: 2011 IEEE International Conference on Robotics and Automation. ICRA11, Shanghai, China.

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Abstract

The concept of variable stiffness actuation (VSA) for robotic joints promises advantages regarding robustness, energy efficiency, and task adaptability. The VS joints developed at DLR show very low intrinsic damping for efficient energy storage and retrieval whereas the desired damping behavior for task execution needs to be implemented in control. Robotic arms with multiple VS joints, as for example the DLR Hand Arm System, ask for advanced control algorithms which can cope with the elastic joints and the multi-input multi-output (MIMO) system properties of the mechanical setup. We propose a MIMO controller for flexible joint robots based upon an eigenmode decoupling approach. For robustness reasons, the controller is designed to modify the intrinsic plant properties as little as possible while attaining the desired damping. A gain design algorithm is proposed. The controller is validated in simulations and experiments.

Document Type:Conference or Workshop Item (Paper)
Title:State Feedback Damping Control For A Multi DOF Variable Stiffness Robot Arm
Authors:
AuthorsInstitution or Email of Authors
Petit, FlorianFlorian.Petit@dlr.de
Albu-Schäffer, AlinRMC
Date:2011
Journal or Publication Title:2011 IEEE International Conference on Robotics and Automation
Status:Published
Keywords:Variable Impedance Actuation, Control, Vibration Damping, Multi Degree of Freedom
Event Title:ICRA11
Event Location:Shanghai, China
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Florian Petit
Deposited On:10 Jan 2012 08:53
Last Modified:10 Jan 2012 08:53

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