Garofalo, Gianluca and Englsberger, Johannes and Ott, Christian (2015) On the regulation of the energy of elastic joint robots: excitation and damping of oscillations. In: American Control Conference (ACC), pp. 4825-4831. American Control Conference (ACC) 2015, Chicago, USA. doi: 10.1109/ACC.2015.7172089.
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Abstract
The paper presents a new control law for elastic joint robots that allows to regulate the energy stored in the system to a desired value. Being able to either remove energy from the system or inject it, oscillations can be both damped out and induced. Therefore the control law can be used for asymptotic regulation to a desired configuration and (in case of additional constraints) generation of asymptotically stable limit cycles. Compared to other methods, we can formally guarantee the previous property keeping at the same time the control law simple and easy to implement. Furthermore, using the energy stored by the intrinsic elastic elements in the joints, high energy efficiency is achieved. Simulations and experiments are also provided, in order to further validate the theoretical results.
Item URL in elib: | https://elib.dlr.de/112835/ | ||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||
Title: | On the regulation of the energy of elastic joint robots: excitation and damping of oscillations | ||||||||||||||||
Authors: |
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Date: | July 2015 | ||||||||||||||||
Journal or Publication Title: | American Control Conference (ACC) | ||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||
Open Access: | Yes | ||||||||||||||||
Gold Open Access: | No | ||||||||||||||||
In SCOPUS: | No | ||||||||||||||||
In ISI Web of Science: | Yes | ||||||||||||||||
DOI: | 10.1109/ACC.2015.7172089 | ||||||||||||||||
Page Range: | pp. 4825-4831 | ||||||||||||||||
Status: | Published | ||||||||||||||||
Keywords: | Robotics, Energy control, Stability, Limit cycle | ||||||||||||||||
Event Title: | American Control Conference (ACC) 2015 | ||||||||||||||||
Event Location: | Chicago, USA | ||||||||||||||||
Event Type: | international Conference | ||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||
HGF - Program: | Space | ||||||||||||||||
HGF - Program Themes: | Space System Technology | ||||||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||||||
DLR - Program: | R SY - Space System Technology | ||||||||||||||||
DLR - Research theme (Project): | R - Terrestrial Assistance Robotics (old) | ||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | ||||||||||||||||
Deposited By: | Garofalo, Dr. Ing. Gianluca | ||||||||||||||||
Deposited On: | 12 Jul 2017 18:36 | ||||||||||||||||
Last Modified: | 21 Jul 2023 11:23 |
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