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 Design for Robot Manipulators
Springer Proceedings in Advanced Robotics
International Workshop on Human-Friendly Robotics ; 2022 ; Delft, The Netherlands September 22, 2022 - September 23, 2022
2023-01-02
16 pages
Article/Chapter (Book)
Electronic Resource
English
NTIS | 1975
|Springer Verlag | 2022
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