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Robust Stabilization of Elastic Joint Robots by ESP and PID Control: Theory and Experiments

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.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/9811346


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/
Document Type:Article
Title:Robust Stabilization of Elastic Joint Robots by ESP and PID Control: Theory and Experiments
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Keppler, ManuelUNSPECIFIEDhttps://orcid.org/0000-0002-1532-963XUNSPECIFIED
Raschel, Clara MariaUNSPECIFIEDhttps://orcid.org/0000-0003-1333-5910UNSPECIFIED
Wandinger, DavidUNSPECIFIEDhttps://orcid.org/0000-0002-3150-8822UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:30 June 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. 8283-8290
Publisher:IEEE - Institute of Electrical and Electronics Engineers
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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