TY - GEN
T1 - Joint-level control of the DLR lightweight robot SARA
AU - Iskandar, Maged
AU - Ott, Christian
AU - Eiberger, Oliver
AU - Keppler, Manuel
AU - Albu-Schaffer, Alin
AU - Dietrich, Alexander
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/24
Y1 - 2020/10/24
N2 - Lightweight robots are known to be intrinsically elastic in their joints. The established classical approaches to control such systems are mostly based on motor-side coordinates since the joints are comparatively stiff. However, that inevitably introduces errors in the coordinates that actually matter: the ones on the link side. Here we present a new joint-torque controller that uses feedback of the link-side positions. Passivity during interaction with the environment is formally shown as well as asymptotic stability of the desired equilibrium in the regulation case. The performance of the control approach is experimentally validated on DLR's new generation of lightweight robots, namely the SARA robot, which enables this step from motor-side-based to link-sided-based control due to sensors with higher resolution and improved sampling rate.
AB - Lightweight robots are known to be intrinsically elastic in their joints. The established classical approaches to control such systems are mostly based on motor-side coordinates since the joints are comparatively stiff. However, that inevitably introduces errors in the coordinates that actually matter: the ones on the link side. Here we present a new joint-torque controller that uses feedback of the link-side positions. Passivity during interaction with the environment is formally shown as well as asymptotic stability of the desired equilibrium in the regulation case. The performance of the control approach is experimentally validated on DLR's new generation of lightweight robots, namely the SARA robot, which enables this step from motor-side-based to link-sided-based control due to sensors with higher resolution and improved sampling rate.
UR - http://www.scopus.com/inward/record.url?scp=85102405869&partnerID=8YFLogxK
U2 - 10.1109/IROS45743.2020.9340700
DO - 10.1109/IROS45743.2020.9340700
M3 - Conference contribution
AN - SCOPUS:85102405869
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 8903
EP - 8910
BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Y2 - 24 October 2020 through 24 January 2021
ER -