Damping Design for Robot Manipulators

Tomás Coleman, Giovanni Franzese, Pablo Borja*

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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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 languageEnglish
Title of host publicationHuman-Friendly Robotics 2022 - HFR
Subtitle of host publicationProceedings of the 15th International Workshop on Human-Friendly Robotics
EditorsPablo Borja, Cosimo Della Santina, Luka Peternel, Elena Torta
ISBN (Electronic)978-3-031-22731-8
ISBN (Print)978-3-031-22730-1
Publication statusPublished - 2023
Event15th International Workshop on Human-Friendly Robotics, HFR 2022 - Delft, Netherlands
Duration: 22 Sep 202223 Sep 2022

Publication series

NameSpringer Proceedings in Advanced Robotics
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264


Conference15th International Workshop on Human-Friendly Robotics, HFR 2022

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.


  • Damping coefficient
  • Impedance control
  • PD control
  • Performance

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