State feedback damping control for a multi DOF variable stiffness robot arm

Florian Petit; Alin Albu-Schäffer

doi:10.1109/ICRA.2011.5980207

State feedback damping control for a multi DOF variable stiffness robot arm

Florian Petit
, Alin Albu-Schäffer

Deutsches Zentrum für Luft- und Raumfahrt (DLR)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

70 Scopus citations

Abstract

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.

Original language	English
Title of host publication	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages	5561-5567
Number of pages	7
DOIs	https://doi.org/10.1109/ICRA.2011.5980207
State	Published - 2011
Externally published	Yes
Event	2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China Duration: 9 May 2011 → 13 May 2011

Publication series

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

Conference

Conference	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Country/Territory	China
City	Shanghai
Period	9/05/11 → 13/05/11

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

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10.1109/ICRA.2011.5980207

Cite this

@inproceedings{30ca98917d3e4394a623989219e76188,

title = "State feedback damping control for a multi DOF variable stiffness robot arm",

abstract = "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.",

author = "Florian Petit and Alin Albu-Sch{\"a}ffer",

year = "2011",

doi = "10.1109/ICRA.2011.5980207",

language = "English",

isbn = "9781612843865",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "5561--5567",

booktitle = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011",

note = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011 ; Conference date: 09-05-2011 Through 13-05-2011",

}

Petit, F & Albu-Schäffer, A 2011, State feedback damping control for a multi DOF variable stiffness robot arm. in 2011 IEEE International Conference on Robotics and Automation, ICRA 2011., 5980207, Proceedings - IEEE International Conference on Robotics and Automation, pp. 5561-5567, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9/05/11. https://doi.org/10.1109/ICRA.2011.5980207

State feedback damping control for a multi DOF variable stiffness robot arm. / Petit, Florian; Albu-Schäffer, Alin.
2011 IEEE International Conference on Robotics and Automation, ICRA 2011. 2011. p. 5561-5567 5980207 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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 - https://www.scopus.com/pages/publications/84861583984

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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 -

State feedback damping control for a multi DOF variable stiffness robot arm

Abstract

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UN SDGs

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