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An Experimental Study on MPC based Joint Torque Control for Flexible Joint Robots

Ott, Christian and Beck, Fabian and Keppler, Manuel (2022) An Experimental Study on MPC based Joint Torque Control for Flexible Joint Robots. In: 13th IFAC Symposium on Robot Control (SYROCO). 13th IFAC Symposium on Robot Control (SYROCO), 17-20 Oct 2022, Matsumoto, Japan. doi: 10.1016/j.ifacol.2023.01.142. ISSN 2405-8963.

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Official URL: https://www.sciencedirect.com/science/article/pii/S2405896323001490

Abstract

This paper presents an experimental evaluation of joint torque control in a flexible joint robot using a model predictive control approach. The control of elastic robots is challenging due to the underactuated nature of the connected link and motor dynamics. A typical solution is to formulate the controller in a cascaded way with an outer loop controller for the nonlinear link side dynamics in combination with an inner loop controller for the joint torque. In this paper the inner loop torque controller utilizes a model predictive control design in order to take actuator constraints into account and, in case of a special choice of the torque reference and control gains, to avoid the computation of higher time derivatives in the desired joint torque. We compare two different controller implementations, which differ in the choice of the reference model. In particular, we investigate on the use of the natural open loop dynamics for the reference model. The controllers are evaluated in detail using a simulation study as well as in experiments on a single joint testbed.

Item URL in elib:https://elib.dlr.de/188913/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:An Experimental Study on MPC based Joint Torque Control for Flexible Joint Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Beck, FabianUNSPECIFIEDhttps://orcid.org/0000-0003-3239-5505UNSPECIFIED
Keppler, ManuelUNSPECIFIEDhttps://orcid.org/0000-0002-1532-963XUNSPECIFIED
Date:2022
Journal or Publication Title:13th IFAC Symposium on Robot Control (SYROCO)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI:10.1016/j.ifacol.2023.01.142
ISSN:2405-8963
Status:Published
Keywords:Torque Control; Flexible Joint Control; Model Predictive Control
Event Title:13th IFAC Symposium on Robot Control (SYROCO)
Event Location:Matsumoto, Japan
Event Type:international Conference
Event Dates:17-20 Oct 2022
Organizer:IFAC
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 - Walking robot/locomotion [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Beck, Fabian
Deposited On:14 Oct 2022 15:42
Last Modified:21 Sep 2023 21:46

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