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Passive Decoupled Multi-Task Controller for Redundant Robots

Wu, Xuwei and Ott, Christian and Albu-Schäffer, Alin and Dietrich, Alexander (2022) Passive Decoupled Multi-Task Controller for Redundant Robots. IEEE Transactions on Control Systems Technology. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TCST.2022.3162990. ISSN 1063-6536.

[img] PDF - Postprint version (accepted manuscript)


Kinematic redundancy in robots makes it possible to execute several control tasks simultaneously. As some tasks are usually more important than others, it is reasonable to dynamically decouple them in order to ensure their execution in a hierarchical way or even without any interference at all. The most widely used technique is to decouple the system by feedback linearization. However, that requires actively shaping the inertia and consequently modifying the natural dynamics of the robot. Here we propose a passivity-based multi-task tracking controller that preserves these inertial properties but fully compensates for task-space cross-couplings using external force feedback. Additionally, three formal proofs are provided: uniform exponential stability for trajectory tracking, passivity during physical interaction, and input-to-state-stability. The controller is validated in simulations and experiments and directly compared with the hierarchical PD+ approach and the feedback linearization. The proposed approach is well suited for safe physical human-robot interaction and dynamic trajectory tracking if measurements or estimations of the external forces are available.

Item URL in elib:https://elib.dlr.de/185935/
Document Type:Article
Title:Passive Decoupled Multi-Task Controller for Redundant Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Wu, XuweiXuwei.Wu (at) dlr.dehttps://orcid.org/0000-0003-2616-9149
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.dehttps://orcid.org/0000-0001-5343-9074
Dietrich, AlexanderAlexander.Dietrich (at) dlr.dehttps://orcid.org/0000-0003-3463-5074
Journal or Publication Title:IEEE Transactions on Control Systems Technology
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/TCST.2022.3162990
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Multi-task control, nonlinear systems, stability, trajectory tracking, physical interaction, redundant robots
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
Deposited By: Wu, Xuwei
Deposited On:31 Mar 2022 10:10
Last Modified:31 Mar 2022 10:10

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