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A Passivity-Based Controller for Motion Tracking and Damping Assignment for Compliantly Actuated Robots

Keppler, Manuel and Lakatos, Dominic and Ott, Christian and Albu-Schäffer, Alin (2016) A Passivity-Based Controller for Motion Tracking and Damping Assignment for Compliantly Actuated Robots. In: IEEE Conference on Decision and Control, pp. 1521-1528. 55th IEEE Conference on Decision and Control, 12.-15. Dez. 2016, Las Vegas, USA. DOI: 10.1109/CDC.2016.7798482

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Abstract

This paper introduces a novel control approach for motion tracking and damping assignment in compliantly actuated robotic systems. The approach follows the idea of shaping the link side dynamics such that the closed loop dynamics follows a given reference trajectory while injecting additional damping for improving vibration suppression. The modification of the apparent link side dynamics is amended by a desired dynamics on the motor side. In contrast to classical feedback linearization the design aims at only a minimal modification of the dynamics, both for the link side and the motor side. The time-varying closed loop dynamics is shown to be globally, uniformly stable. The effectiveness of the resulting feedback control law was evaluated by simulations as well as experiments on a highly nonlinear and highly compliant robot arm.

Item URL in elib:https://elib.dlr.de/110670/
Document Type:Conference or Workshop Item (Speech)
Title:A Passivity-Based Controller for Motion Tracking and Damping Assignment for Compliantly Actuated Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Keppler, Manuelmanuel.keppler (at) dlr.deUNSPECIFIED
Lakatos, Dominicdominic.lakatos (at) dlr.deUNSPECIFIED
Ott, Christianchristian.ott (at) dlr.deUNSPECIFIED
Albu-Schäffer, Alinalin.albu-schaeffer (at) dlr.deUNSPECIFIED
Date:December 2016
Journal or Publication Title:IEEE Conference on Decision and Control
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
DOI :10.1109/CDC.2016.7798482
Page Range:pp. 1521-1528
Status:Published
Keywords:Damping, Springs, Robot kinematics, Dynamics, Actuators, Elasticity
Event Title:55th IEEE Conference on Decision and Control
Event Location:Las Vegas, USA
Event Type:international Conference
Event Dates:12.-15. Dez. 2016
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Lakatos, Dominic
Deposited On:13 Jan 2017 09:55
Last Modified:31 Jul 2019 20:07

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