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On the regulation of the energy of elastic joint robots: excitation and damping of oscillations

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.

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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/
Document Type:Conference or Workshop Item (Speech)
Title:On the regulation of the energy of elastic joint robots: excitation and damping of oscillations
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Garofalo, Gianlucagianluca.garofalo (at) dlr.deUNSPECIFIED
Englsberger, Johannesjohannes.englsberger (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
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
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 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: Garofalo, Dr. Ing. Gianluca
Deposited On:12 Jul 2017 18:36
Last Modified:31 Jul 2019 20:10

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