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Passivity-based Motion and Force Tracking Control for Constrained Elastic Joint Robots

Meng, Xuming and Keppler, Manuel and Ott, Christian (2022) Passivity-based Motion and Force Tracking Control for Constrained Elastic Joint Robots. IEEE Control Systems Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LCSYS.2022.3187345. ISSN 2475-1456.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/9810336


In the past, several motion and force controls were successfully implemented on rigid-joint robots with constraints. With the invention of mechanically compliant robots, the focus on designing controllers for elastic joint robots with constraints is increasing, especially involving the complexity of the joint elasticity in control. Aiming to bridge the gap between the control schemes of rigid- and elastic-joint robots, this letter presents a controller consisting of a PD+ task-space tracking and integral force control, while the intrinsic inertial and elastic properties of the system are fully preserved. We provide a passivity analysis and prove uniform asymptotic stability of the equilibrium. Simulations on a planar two-armed benchmark system with constraints validate the proposed control law.

Item URL in elib:https://elib.dlr.de/187122/
Document Type:Article
Title:Passivity-based Motion and Force Tracking Control for Constrained Elastic Joint Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Meng, XumingUNSPECIFIEDhttps://orcid.org/0000-0001-5642-1830UNSPECIFIED
Keppler, ManuelUNSPECIFIEDhttps://orcid.org/0000-0002-1532-963XUNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:June 2022
Journal or Publication Title:IEEE Control Systems Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
EditorsEmailEditor's ORCID iDORCID Put Code
Valcher, Maria ElenaUNSPECIFIEDhttps://orcid.org/0000-0002-7595-3688UNSPECIFIED
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Robotics, control applications
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], R - Interacting Robot Control [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Meng, Xuming
Deposited On:13 Jul 2022 12:30
Last Modified:13 Jul 2022 12:30

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