TY - GEN
T1 - A passivity-based controller for motion tracking and damping assignment for compliantly actuated robots
AU - Keppler, Manuel
AU - Lakatos, Dominic
AU - Ott, Christian
AU - Albu-Schäffer, Alin
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/12/27
Y1 - 2016/12/27
N2 - This paper introduces a novel control approach for motion tracking and damping assignment in compliantly actuated robotic systems. The approach follows the idea of shaping the link side dynamics such that the closed loop dynamics follows a given reference trajectory while injecting additional damping for improving vibration suppression. The modification of the apparent link side dynamics is amended by a desired dynamics on the motor side. In contrast to classical feedback linearization the design aims at only a minimal modification of the dynamics, both for the link side and the motor side. The time-varying closed loop dynamics is shown to be globally, uniformly stable. The effectiveness of the resulting feedback control law was evaluated by simulations as well as experiments on a highly nonlinear and highly compliant robot arm.
AB - This paper introduces a novel control approach for motion tracking and damping assignment in compliantly actuated robotic systems. The approach follows the idea of shaping the link side dynamics such that the closed loop dynamics follows a given reference trajectory while injecting additional damping for improving vibration suppression. The modification of the apparent link side dynamics is amended by a desired dynamics on the motor side. In contrast to classical feedback linearization the design aims at only a minimal modification of the dynamics, both for the link side and the motor side. The time-varying closed loop dynamics is shown to be globally, uniformly stable. The effectiveness of the resulting feedback control law was evaluated by simulations as well as experiments on a highly nonlinear and highly compliant robot arm.
UR - http://www.scopus.com/inward/record.url?scp=85010739329&partnerID=8YFLogxK
U2 - 10.1109/CDC.2016.7798482
DO - 10.1109/CDC.2016.7798482
M3 - Conference contribution
AN - SCOPUS:85010739329
T3 - 2016 IEEE 55th Conference on Decision and Control, CDC 2016
SP - 1521
EP - 1528
BT - 2016 IEEE 55th Conference on Decision and Control, CDC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 55th IEEE Conference on Decision and Control, CDC 2016
Y2 - 12 December 2016 through 14 December 2016
ER -