TY - JOUR
T1 - Practical consequences of inertia shaping for interaction and tracking in robot control
AU - Dietrich, Alexander
AU - Wu, Xuwei
AU - Bussmann, Kristin
AU - Harder, Marie
AU - Iskandar, Maged
AU - Englsberger, Johannes
AU - Ott, Christian
AU - Albu-Schäffer, Alin
N1 - Publisher Copyright:
© 2021 Elsevier Ltd
PY - 2021/9
Y1 - 2021/9
N2 - In trajectory tracking and interaction control of robots, two fundamentally different concepts define the boundaries within which most nonlinear model-based approaches can be located. On the one hand controllers such as the PD+ preserve the natural inertia and avoid feedback of external forces and torques. On the other hand controllers based on feedback linearization, as used in most inverse dynamics approaches, enforce linear closed-loop dynamics by means of external force/torque feedback. Here, these two basic concepts of keeping and shaping of the natural inertia are investigated and compared including aspects such as interaction behavior, tracking performance, tuning parameters, influence of modeling errors, and effective feedback gains. Exemplary case studies on a standard torque-controlled robot are performed. The understanding of these features and differences is of major importance for the proper selection and deployment of interaction and tracking controllers in practice.
AB - In trajectory tracking and interaction control of robots, two fundamentally different concepts define the boundaries within which most nonlinear model-based approaches can be located. On the one hand controllers such as the PD+ preserve the natural inertia and avoid feedback of external forces and torques. On the other hand controllers based on feedback linearization, as used in most inverse dynamics approaches, enforce linear closed-loop dynamics by means of external force/torque feedback. Here, these two basic concepts of keeping and shaping of the natural inertia are investigated and compared including aspects such as interaction behavior, tracking performance, tuning parameters, influence of modeling errors, and effective feedback gains. Exemplary case studies on a standard torque-controlled robot are performed. The understanding of these features and differences is of major importance for the proper selection and deployment of interaction and tracking controllers in practice.
KW - Control
KW - Feedback linearization
KW - Inertia shaping
KW - PD+
KW - Robotics
UR - http://www.scopus.com/inward/record.url?scp=85108296364&partnerID=8YFLogxK
U2 - 10.1016/j.conengprac.2021.104875
DO - 10.1016/j.conengprac.2021.104875
M3 - Article
AN - SCOPUS:85108296364
SN - 0967-0661
VL - 114
JO - Control Engineering Practice
JF - Control Engineering Practice
M1 - 104875
ER -