TY - GEN
T1 - State feedback damping control for a multi DOF variable stiffness robot arm
AU - Petit, Florian
AU - Albu-Schäffer, Alin
PY - 2011
Y1 - 2011
N2 - The concept of variable stiffness actuation (VSA) for robotic joints promises advantages regarding robustness, energy efficiency, and task adaptability. The VS joints developed at DLR show very low intrinsic damping for efficient energy storage and retrieval whereas the desired damping behavior for task execution needs to be implemented in control. Robotic arms with multiple VS joints, as for example the DLR Hand Arm System, ask for advanced control algorithms which can cope with the elastic joints and the multi-input multi-output (MIMO) system properties of the mechanical setup. We propose a MIMO controller for flexible joint robots based upon an eigenmode decoupling approach. For robustness reasons, the controller is designed to modify the intrinsic plant properties as little as possible while attaining the desired damping. A gain design algorithm is proposed. The controller is validated in simulations and experiments.
AB - The concept of variable stiffness actuation (VSA) for robotic joints promises advantages regarding robustness, energy efficiency, and task adaptability. The VS joints developed at DLR show very low intrinsic damping for efficient energy storage and retrieval whereas the desired damping behavior for task execution needs to be implemented in control. Robotic arms with multiple VS joints, as for example the DLR Hand Arm System, ask for advanced control algorithms which can cope with the elastic joints and the multi-input multi-output (MIMO) system properties of the mechanical setup. We propose a MIMO controller for flexible joint robots based upon an eigenmode decoupling approach. For robustness reasons, the controller is designed to modify the intrinsic plant properties as little as possible while attaining the desired damping. A gain design algorithm is proposed. The controller is validated in simulations and experiments.
UR - http://www.scopus.com/inward/record.url?scp=84861583984&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5980207
DO - 10.1109/ICRA.2011.5980207
M3 - Conference contribution
AN - SCOPUS:84861583984
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5561
EP - 5567
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -