Damping Design for Robot Manipulators

Tomás Coleman; Giovanni Franzese; Pablo Borja

doi:10.1007/978-3-031-22731-8_6

Damping Design for Robot Manipulators

Tomás Coleman, Giovanni Franzese, Pablo Borja^*

^*Corresponding author for this work

Learning & Autonomous Control

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

242 Downloads (Pure)

Abstract

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.

Original language	English
Title of host publication	Human-Friendly Robotics 2022 - HFR
Subtitle of host publication	Proceedings of the 15th International Workshop on Human-Friendly Robotics
Editors	Pablo Borja, Cosimo Della Santina, Luka Peternel, Elena Torta
Publisher	Springer
Pages	74-89
ISBN (Electronic)	978-3-031-22731-8
ISBN (Print)	978-3-031-22730-1
DOIs	https://doi.org/10.1007/978-3-031-22731-8_6
Publication status	Published - 2023
Event	15th International Workshop on Human-Friendly Robotics, HFR 2022 - Delft, Netherlands Duration: 22 Sept 2022 → 23 Sept 2022

Publication series

Name	Springer Proceedings in Advanced Robotics
Volume	26
ISSN (Print)	2511-1256
ISSN (Electronic)	2511-1264

Conference

Conference	15th International Workshop on Human-Friendly Robotics, HFR 2022
Country/Territory	Netherlands
City	Delft
Period	22/09/22 → 23/09/22

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

Damping coefficient
Impedance control
PD control
Performance

Access to Document

10.1007/978-3-031-22731-8_6

978-3-031-22731-8_6Final published version, 1.98 MB

Cite this

Coleman, T., Franzese, G., & Borja, P. (2023). Damping Design for Robot Manipulators. In P. Borja, C. Della Santina, L. Peternel, & E. Torta (Eds.), Human-Friendly Robotics 2022 - HFR: Proceedings of the 15th International Workshop on Human-Friendly Robotics (pp. 74-89). (Springer Proceedings in Advanced Robotics; Vol. 26). Springer. https://doi.org/10.1007/978-3-031-22731-8_6

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title = "Damping Design for Robot Manipulators",

abstract = "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.",

keywords = "Damping coefficient, Impedance control, PD control, Performance",

author = "Tom{\'a}s Coleman and Giovanni Franzese and Pablo Borja",

note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; 15th International Workshop on Human-Friendly Robotics, HFR 2022 ; Conference date: 22-09-2022 Through 23-09-2022",

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Coleman, T , Franzese, G & Borja, P 2023, Damping Design for Robot Manipulators. in P Borja, C Della Santina, L Peternel & E Torta (eds), Human-Friendly Robotics 2022 - HFR: Proceedings of the 15th International Workshop on Human-Friendly Robotics. Springer Proceedings in Advanced Robotics, vol. 26, Springer, pp. 74-89, 15th International Workshop on Human-Friendly Robotics, HFR 2022, Delft, Netherlands, 22/09/22. https://doi.org/10.1007/978-3-031-22731-8_6

Damping Design for Robot Manipulators. / Coleman, Tomás ; Franzese, Giovanni; Borja, Pablo.
Human-Friendly Robotics 2022 - HFR: Proceedings of the 15th International Workshop on Human-Friendly Robotics. ed. / Pablo Borja; Cosimo Della Santina; Luka Peternel; Elena Torta. Springer, 2023. p. 74-89 (Springer Proceedings in Advanced Robotics; Vol. 26).

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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