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.
|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|
|Publication status||Published - 2023|
|Event||15th International Workshop on Human-Friendly Robotics, HFR 2022 - Delft, Netherlands|
Duration: 22 Sep 2022 → 23 Sep 2022
|Name||Springer Proceedings in Advanced Robotics|
|Conference||15th International Workshop on Human-Friendly Robotics, HFR 2022|
|Period||22/09/22 → 23/09/22|
Bibliographical noteGreen 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