Passivity-Based Motion and Force Tracking Control for Constrained Elastic Joint Robots

被引：6
|
作者：
Meng, Xuming [1 ]
Keppler, Manuel [1 ]
Ott, Christian [1 ,2 ]
机构：
[1] German Aerosp Ctr, Inst Robot & Mechatron, D-82234 Wessling, Germany
[2] TU Wien, Automat & Control Inst, A-1040 Vienna, Austria
来源：
IEEE CONTROL SYSTEMS LETTERS | 2022年 / 7卷
基金：
欧洲研究理事会;
关键词：
Robots; Task analysis; Force; Aerospace electronics; Tracking; Force control; Trajectory; Robotics; control applications; STABILITY; DYNAMICS; SYSTEMS; INVERSE;
D O I：
10.1109/LCSYS.2022.3187345
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In the past, several motion and force controls were successfully implemented on rigid-joint robots with constraints. With the invention of mechanically compliant robots, the focus on designing controllers for elastic joint robots with constraints is increasing, especially involving the complexity of the joint elasticity in control. Aiming to bridge the gap between the control schemes of rigid- and elastic-joint robots, this letter presents a controller consisting of a PD+ task-space tracking and integral force control, while the intrinsic inertial and elastic properties of the system are fully preserved. We provide a passivity analysis and prove uniform asymptotic stability of the equilibrium. Simulations on a planar two-armed benchmark system with constraints validate the proposed control law.
引用
收藏
页码：217 / 222
页数：6
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