Iskandar, Maged und van Ommeren, Christiaan und Wu, Xuwei und Albu-Schäffer, Alin Olimpiu und Dietrich, Alexander (2022) Model Predictive Control Applied to Different Time-scale Dynamics of Flexible Joint Robots. IEEE Robotics and Automation Letters, 8 (2), Seiten 672-679. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3229226. ISSN 2377-3766.
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Offizielle URL: https://ieeexplore.ieee.org/document/9984844
Kurzfassung
Modern Lightweight robots are constructed to be collaborative, which often results in a low structural stiffness compared to conventional rigid robots. Therefore, the controller must be able to handle the dynamic oscillatory effect mainly due to the intrinsic joint elasticity. Singular perturbation theory makes it possible to decompose the flexible joint dynamics into fast and slow subsystems. This model separation provides additional features to incorporate future knowledge of the joint level dynamical behavior within the controller design using the Model Predictive Control (MPC) technique. In this study, different architectures are considered that combine the method of Singular Perturbation and MPC. For Singular Perturbation, the parameters that influence the validity of using this technique to control a flexible-joint robot are investigated. Furthermore, limits on the input constraints for the future trajectory are considered with MPC. The position control performance and robustness against external forces of each architecture are validated experimentally for a flexible joint robot. The experimental validation shows superior performance in practice for the presented MPC framework, especially respecting the actuator torque limits.
elib-URL des Eintrags: | https://elib.dlr.de/191941/ | ||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||
Titel: | Model Predictive Control Applied to Different Time-scale Dynamics of Flexible Joint Robots | ||||||||||||||||||||||||
Autoren: |
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Datum: | 14 Dezember 2022 | ||||||||||||||||||||||||
Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||
Band: | 8 | ||||||||||||||||||||||||
DOI: | 10.1109/LRA.2022.3229226 | ||||||||||||||||||||||||
Seitenbereich: | Seiten 672-679 | ||||||||||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | MPC, Singular Perturbation, Flexible Joint Robots, Fast and Slow Time Scales Dynamics, Model Predictive Control for Flexible Joint Robots | ||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Roboterdynamik & Simulation [RO], R - Leichtbau-Robotik [RO] | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||||||
Hinterlegt von: | Iskandar, Maged Samuel Zakri | ||||||||||||||||||||||||
Hinterlegt am: | 12 Dez 2022 21:04 | ||||||||||||||||||||||||
Letzte Änderung: | 04 Dez 2023 10:47 |
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