Keppler, Manuel and Raschel, Clara Maria and Wandinger, David and Stemmer, Andreas and Ott, Christian (2022) Robust Stabilization of Elastic Joint Robots by ESP and PID Control: Theory and Experiments. IEEE Robotics and Automation Letters, 7 (3), pp. 8283-8290. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3187277. ISSN 2377-3766.
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Official URL: https://ieeexplore.ieee.org/document/9811346
Abstract
This work addresses the problem of global set-point control of elastic joint robots by combining elastic structure preserving (ESP) control with non-collocated integral action. Despite the popularity and extensive research on PID control for rigid joint robots, such schemes largely evaded adoption to elastic joint robots. This is mainly due to the underactuation inherent to these systems, which impedes the direct implementation of PID schemes with non-collocated (link position) feedback. We remedy this issue by using the recently developed concept of “quasi-full actuation,” to achieve a link-side PID control structure with “delayed” integral action. The design follows the structure preserving design philosophy of ESP control and ensures global asymptotic stability and local passivity of the closed loop. A key feature of the proposed controller is the switching logic for the integral action that enables the combination of excellent positioning accuracy in free motion with compliant manipulation in contact with the environment. Its performance is evaluated on an elastic joint testbed and a compliant robot arm. The results demonstrate that elastic robots may achieve positioning accuracy comparable to rigid joint robots.
Item URL in elib: | https://elib.dlr.de/192894/ | ||||||||||||||||||||||||
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Document Type: | Article | ||||||||||||||||||||||||
Title: | Robust Stabilization of Elastic Joint Robots by ESP and PID Control: Theory and Experiments | ||||||||||||||||||||||||
Authors: |
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Date: | 30 June 2022 | ||||||||||||||||||||||||
Journal or Publication Title: | IEEE Robotics and Automation Letters | ||||||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||||||
Open Access: | Yes | ||||||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||||||
In SCOPUS: | Yes | ||||||||||||||||||||||||
In ISI Web of Science: | Yes | ||||||||||||||||||||||||
Volume: | 7 | ||||||||||||||||||||||||
DOI: | 10.1109/LRA.2022.3187277 | ||||||||||||||||||||||||
Page Range: | pp. 8283-8290 | ||||||||||||||||||||||||
Publisher: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||||||||||
Status: | Published | ||||||||||||||||||||||||
Keywords: | Elastic joint robot, PID control, underactuation | ||||||||||||||||||||||||
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 Institute of Robotics and Mechatronics (since 2013) | ||||||||||||||||||||||||
Deposited By: | Strobl, Dr. Klaus H. | ||||||||||||||||||||||||
Deposited On: | 23 Dec 2022 11:20 | ||||||||||||||||||||||||
Last Modified: | 23 Dec 2022 11:20 |
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