Damping Design for Robot Manipulators

Damping Design for Robot Manipulators

Coleman, T. (TU Delft Learning & Autonomous Control)
Franzese, G. (TU Delft Learning & Autonomous Control)
Borja Rosales, L.P. (TU Delft Learning & Autonomous Control)

Borja, Pablo (editor)
Della Santina, Cosimo (editor)
Peternel, Luka (editor)
Torta, Elena (editor)

2023

This paper studies the tuning process of controllers for fully actuated manipulators. To this end, we propose a methodology to design the desired damping matrix—alternatively, the derivative gain of a PD controller—of the closed-loop system such that n second-order systems can approximate its behavior with a prescribed damping coefficient, where n denotes the degrees of freedom of the system. The proposed approach is based on the linearization of the closed-loop system around the desired configuration and is suitable for different control approaches, such as PD control plus gravity compensation, impedance control, and passivity-based control. Furthermore, we extensively analyze simulations and experimental results in a cobot.

Damping coefficient
Impedance control
PD control
Performance

http://resolver.tudelft.nl/uuid:8103a568-48bb-48f5-aea9-6d9c535d47c8

https://doi.org/10.1007/978-3-031-22731-8_6

Springer

2023-07-02

978-3-031-22730-1

Human-Friendly Robotics 2022 - HFR: Proceedings of the 15th International Workshop on Human-Friendly Robotics

15th International Workshop on Human-Friendly Robotics, HFR 2022, 2022-09-22 → 2022-09-23, Delft, Netherlands

Springer Proceedings in Advanced Robotics, 2511-1256, 26

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Institutional Repository

conference paper

© 2023 T. Coleman, G. Franzese, L.P. Borja Rosales