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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    Title :

    Damping Design for Robot Manipulators


    Additional title:

    Springer Proceedings in Advanced Robotics


    Contributors:

    Conference:

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



    Publication date :

    2023-01-02


    Size :

    16 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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