Combined inverse-dynamics/passivity-based control for robots with elastic joints

Andrea Giusti, Jorn Malzahn, Nikolaos G. Tsagarakis, Matthias Althoff

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

8 Scopus citations

Abstract

We consider the global tracking control problem of robots with elastic joints. Even if joint elasticity introduces beneficial features for modern applications which require physically resilient and safer robots that can interact with the environment or humans, it challenges the achievable control performance. We propose a novel controller which combines the benefits of two approaches: the intrinsic robustness to model uncertainty from passivity-based control and the implementation efficiency of inverse-dynamics control schemes using a modern recursive algorithm. The novel controller is applied to an elastic-joint reconfigurable robotic arm using a recently proposed framework for on-the-fly control design. Simulation and experimental results validate our proposed approach.

Original languageEnglish
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5281-5288
Number of pages8
ISBN (Electronic)9781509046331
DOIs
StatePublished - 21 Jul 2017
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: 29 May 20173 Jun 2017

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Country/TerritorySingapore
CitySingapore
Period29/05/173/06/17

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