Damping Design for Robot Manipulators

Conference paper (2023)

Authors

T. Coleman Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering
G. Franzese Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering
L.P. Borja Rosales Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering
Research Group
Learning & Autonomous Control (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2023 T. Coleman, G. Franzese, L.P. Borja Rosales
DOI
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https://doi.org/10.1007/978-3-031-22731-8_6
Performance Impedance control PD control Damping coefficient
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Published Date

2023

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Learning & Autonomous Control

Abstract

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.