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Passive Impedance Control of Robots With Viscoelastic Joints Via Inner-Loop Torque Control

Kim, MinJun and Werner, Alexander and Loeffl, Florian Christoph and Ott, Christian (2021) Passive Impedance Control of Robots With Viscoelastic Joints Via Inner-Loop Torque Control. IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2021.3071617. ISSN 1552-3098.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/9643422


This article presents passive impedance control of flexible joint robots (FJRs) via inner-loop torque control of elastic joints. However, according to our theoretical analysis, the torque control methods of series elastic actuators (SEAs) are often limited by the fact that the acceleration signals are amplified by the control gains. Since the acceleration signals are often affected by differentiation noise, the analysis may become invalid in practice. To alleviate this limitation, we propose the use of the so-called series viscoelastic actuator (SvEA), which significantly reduces the acceleration amplification. Consequently, in contrast to the SEA case, the theoretical analysis of an SvEA-based FJR is valid in real implementations. We would like to highlight the fact that the theoretical analysis (more specifically, passivity analysis) is performed for nonlinear robot dynamics without linearization. As a result, the passive impedance controller can be realized more robustly with enhanced inner-loop torque control.

Item URL in elib:https://elib.dlr.de/147484/
Document Type:Article
Title:Passive Impedance Control of Robots With Viscoelastic Joints Via Inner-Loop Torque Control
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Loeffl, Florian ChristophUNSPECIFIEDhttps://orcid.org/0000-0002-6914-5414UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:9 December 2021
Journal or Publication Title:IEEE Transactions on Robotics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Elastic robots, SEA, Impedance Control
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Ott, Dr. Christian
Deposited On:14 Dec 2021 14:58
Last Modified:05 Dec 2023 07:41

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