TY - GEN
T1 - Combined inverse-dynamics/passivity-based control for robots with elastic joints
AU - Giusti, Andrea
AU - Malzahn, Jorn
AU - Tsagarakis, Nikolaos G.
AU - Althoff, Matthias
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/21
Y1 - 2017/7/21
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85028023190&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2017.7989620
DO - 10.1109/ICRA.2017.7989620
M3 - Conference contribution
AN - SCOPUS:85028023190
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5281
EP - 5288
BT - ICRA 2017 - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Y2 - 29 May 2017 through 3 June 2017
ER -