A simple PD controller for robots with elastic joints

Tomei, P.

doi:10.1109/9.90238

Cited by 498 publications

(237 citation statements)

References 9 publications

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“…The general stability and robustness of most IFC schemes was shown in multiple publications, e.g. [17], [18]. With q d , the SPG indirectly sets a static interaction torque equal to K P q e 1 .…”

Section: B Indirect Force Controlmentioning

confidence: 97%

A set-point-generator for indirect-force-controlled manipulators operating unknown constrained mechanisms

Lutscher

Cheng

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-In this paper we propose a set-point-generator (SPG) for indirect-force-controlled (IFC) manipulators, interacting with mechanisms, which impose narrow bilateral kinematic constraints on their end effector, like doors, cabinets and drawers. These mechanisms could also have dynamic properties, due to their inertia, friction and gravity, which demands to consider applied forces when choosing a set-point for the IFC. Neither the type of the constraint (linear, circular), nor required manipulation forces are assumed to be known.The proposed SPG consists of two parts: i) estimating the single direction of possible motion based on filtering of the measured end effector velocities; and ii) choosing an appropriate set-point for the underlying IFC, resulting in an effective operation of the mechanism. A major aspect of our approach is to explore the kinematic constraints with the manipulators desired set-point, avoiding direct force control, as the required interaction force is unknown and hence there is no definite reference force.The presented approach is a generalization of our previous work on constrained manipulation of unknown mechanisms and extends the applicability to a wider class of manipulators by considering joint-level IFC and taking into account the applied forces in yielding a robust and effective controller.The approach is evaluated in various experiments on a manipulator, providing joint space compliance.

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Section: B Indirect Force Controlmentioning

confidence: 97%

A set-point-generator for indirect-force-controlled manipulators operating unknown constrained mechanisms

Lutscher

Cheng

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…Control of single flexible-joint robots with full state measurement was first solved in [25]. It was later extended to the case of joint position measurements in [2,6].…”

Section: Introductionmentioning

confidence: 99%

Networking improves robustness in flexible-joint multi-robot systems with only joint position measurements

Nuño

Ortega

Jayawardhana

et al. 2013

European Journal of Control

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“…on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010), pp. 497-508, Springer, 2010 equations see [14,16]:…”

Section: Robot Arm Dynamicsmentioning

confidence: 99%

Dynamic Modeling of the 4 DoF BioRob Series Elastic Robot Arm for Simulation and Control

Lens

Kunz

Stryk

2010

Simulation, Modeling, and Programming for Autonomous Robots

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Abstract. This paper presents the modeling of the light-weight BioRob robot arm with series elastic actuation for simulation and controller design. We describe the kinematic coupling introduced by the cable actuation and the robot arm dynamics including the elastic actuator and motor and gear model. We show how the inverse dynamics model derived from these equations can be used as a basis for a position tracking controller that is able to sufficiently damp the oscillations caused by the high, nonlinear joint elasticity. We presents results from simulation and briefly describe the implementation for a real world application.

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A simple PD controller for robots with elastic joints

Cited by 498 publications

References 9 publications

A set-point-generator for indirect-force-controlled manipulators operating unknown constrained mechanisms

A set-point-generator for indirect-force-controlled manipulators operating unknown constrained mechanisms

Networking improves robustness in flexible-joint multi-robot systems with only joint position measurements

Dynamic Modeling of the 4 DoF BioRob Series Elastic Robot Arm for Simulation and Control

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