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Model Predictive Control Applied to Different Time-scale Dynamics of Flexible Joint Robots

Iskandar, Maged and van Ommeren, Christiaan and Wu, Xuwei and Albu-Schäffer, Alin Olimpiu and Dietrich, Alexander (2022) Model Predictive Control Applied to Different Time-scale Dynamics of Flexible Joint Robots. IEEE Robotics and Automation Letters, 8 (2), pp. 672-679. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3229226. ISSN 2377-3766.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/9984844


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.

Item URL in elib:https://elib.dlr.de/191941/
Document Type:Article
Title:Model Predictive Control Applied to Different Time-scale Dynamics of Flexible Joint Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Iskandar, MagedUNSPECIFIEDhttps://orcid.org/0000-0003-0644-0659UNSPECIFIED
Wu, XuweiUNSPECIFIEDhttps://orcid.org/0000-0003-2616-9149UNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115921
Dietrich, AlexanderUNSPECIFIEDhttps://orcid.org/0000-0003-3463-5074148012477
Date:14 December 2022
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 672-679
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:MPC, Singular Perturbation, Flexible Joint Robots, Fast and Slow Time Scales Dynamics, Model Predictive Control for Flexible Joint 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], R - Lightweight robotics [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Iskandar, Maged Samuel Zakri
Deposited On:12 Dec 2022 21:04
Last Modified:04 Dec 2023 10:47

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