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.


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    Titel :

    Damping Design for Robot Manipulators


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Borja, Pablo (Herausgeber:in) / Della Santina, Cosimo (Herausgeber:in) / Peternel, Luka (Herausgeber:in) / Torta, Elena (Herausgeber:in) / Coleman, Tomás (Autor:in) / Franzese, Giovanni (Autor:in) / Borja, Pablo (Autor:in)

    Kongress:

    International Workshop on Human-Friendly Robotics ; 2022 ; Delft, The Netherlands September 22, 2022 - September 23, 2022



    Erscheinungsdatum :

    02.01.2023


    Format / Umfang :

    16 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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