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Control of robots with elastic joints based on automatic generation of inverse dynamics models

M. Thummel, M. Otter, J. Bals
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)  
In this article it is shown how tool vibrations of elastic joint robots can be reduced significantly by feedforward control based on inverse dynamics models.  ...  The technique is demonstrated with a 6 axes elastic joint robot model and with experimental results from our laboratory robot.  ...  Conclusions This paper pointed out that controllers for elastic joint robots can be improved considerably by extending them with an inverse dynamics feedforward controller.  ... 
doi:10.1109/iros.2001.976287 dblp:conf/iros/ThummelOB01 fatcat:3ta67pgcercebmcr2ssvs2sl6a

Combined inverse-dynamics/passivity-based control for robots with elastic joints

Andrea Giusti, Jorn Malzahn, Nikolaos G. Tsagarakis, Matthias Althoff
2017 2017 IEEE International Conference on Robotics and Automation (ICRA)  
We consider the global tracking control problem of robots with elastic joints.  ...  We propose a novel controller which combines the benefits of two approaches: the intrinsic robustness to model uncertainty from passivity-based control and the implementation efficiency of inverse-dynamics  ...  Our new global tracking control approach is based on the partial cancellation of the modelled system dynamics combined with the exploitation of the passivity-properties of the robot model.  ... 
doi:10.1109/icra.2017.7989620 dblp:conf/icra/GiustiMTA17 fatcat:a3gcu6tjyzhdhovdwmo76h74bq

Flatness Based Control of an Industrial Robot Joint Using Secondary Encoders

Jonas Weigand, Nigora Gafur, Martin Ruskowski
2021 Robotics and Computer-Integrated Manufacturing  
For this purpose, a novel nonlinear, continuously differentiable dynamical model of a flexible robot joint is presented.  ...  The robot joint is modeled as a two-mass oscillator with pose-dependent inertia, nonlinear friction and nonlinear stiffness, including backlash.  ...  However, a core insight of Fig. 7 is the performance of the R-FF controller on the elastic joint model.  ... 
doi:10.1016/j.rcim.2020.102039 fatcat:wueyc42mkvbbfj7pk3prslz7ry

Decoupling and feedback linearization of robots with mixed rigid/elastic joints

Alessandro De Luca
1998 International Journal of Robust and Nonlinear Control  
We start from the reduced model of robots with all joints elastic introduced by Spong, which is linearizable by static feedback.  ...  We consider some theoretical aspects of the control problem for rigid link robots having some joints rigid and some with non-negligible elasticity.  ...  Both dynamic models-the reduced and the complete one-have been used extensively by researchers working on the control of robots with joint elasticity.  ... 
doi:10.1002/(sici)1099-1239(199809)8:11<965::aid-rnc371>3.0.co;2-4 fatcat:5dpdnyzsvbhv5lbat5ku76qmvy

Decoupling and feedback linearization of robots with mixed rigid/elastic joints

Alessandro De Luca
1998 International Journal of Robust and Nonlinear Control  
We start from the reduced model of robots with all joints elastic introduced by Spong, which is linearizable by static feedback.  ...  We consider some theoretical aspects of the control problem for rigid link robots having some joints rigid and some with non-negligible elasticity.  ...  Both dynamic models-the reduced and the complete one-have been used extensively by researchers working on the control of robots with joint elasticity.  ... 
doi:10.1002/(sici)1099-1239(199809)8:11<965::aid-rnc371>3.3.co;2-w fatcat:jszc6m2oarclxnu2apb3uuraha

Overview of Key Technology of Automatic Control for Space Flexible Manipulators

Senlin Lu, Jun Chen
2017 DEStech Transactions on Computer Science and Engineering  
According to the groundbreaking research results of the key technology of dynamics modeling and automatic control for robots obtained by the researchers in recent years, this paper carries out a comprehensive  ...  analytic demonstration and summarization on the key technology of automatic control for flexible manipulators.  ...  Currently, the research on the key technology of automatic control for the space flexible-joint robot fails to make a breakthrough.  ... 
doi:10.12783/dtcse/iccae2016/7176 fatcat:hydy47grwzdmfesrevoxw4jcmq

Flexible Robots [chapter]

Alessandro De Luca
2013 Encyclopedia of Systems and Control  
Dynamic models of the two classes of robots with flexible joints or flexible links are presented, together with control laws addressing the motion tasks of regulation to constant equilibrium states and  ...  Control design for robots with flexible joints takes advantage of the passivity and feedback linearization properties.  ...  This includes also the use of dynamic feedback linearization for a more general model of robots with elastic joints.  ... 
doi:10.1007/978-1-4471-5102-9_176-1 fatcat:ppeb2jaudnhdriipyqimu74lwe

Flexible Robots [chapter]

Alessandro De Luca
2015 Encyclopedia of Systems and Control  
Dynamic models of the two classes of robots with flexible joints or flexible links are presented, together with control laws addressing the motion tasks of regulation to constant equilibrium states and  ...  Control design for robots with flexible joints takes advantage of the passivity and feedback linearization properties.  ...  This includes also the use of dynamic feedback linearization for a more general model of robots with elastic joints.  ... 
doi:10.1007/978-1-4471-5058-9_176 fatcat:mvhkmmvimnahzdjn373dtjqxfi

Human-Centered Robotics and Interactive Haptic Simulation

Oussama Khatib, Oliver Brock, Kyong-Sok Chang, Diego Ruspini, Luis Sentis, Sriram Viji
2004 The international journal of robotics research  
In addition to the new capabilities they bring to the physical robot, these models and algorithms and, more generally, the body of developments in robotics is having a significant impact on the virtual  ...  This paper focuses on models, strategies, and algorithms associated with the autonomous behaviors needed for robots to work, assist, and cooperate with humans.  ...  Acknowledgments The financial support of Honda and NSF (grants IRI-9320017) is gratefully acknowledged.  ... 
doi:10.1177/0278364904041325 fatcat:ozbsmqhxq5e57lnqxdjoctekji

Development of a dynamic simulator for a compliant humanoid robot based on a symbolic multibody approach

H. Dallali, M. Mosadeghzad, G. A. Medrano-Cerda, N. Docquier, P. Kormushev, N. Tsagarakis, Zhibin Li, D. Caldwell
2013 2013 IEEE International Conference on Mechatronics (ICM)  
The key advantages of this simulator are: it generates efficient symbolic dynamical equations of the robot with high degrees of freedom, it includes a user-defined model of the actuator dynamics (the passive  ...  This paper reports on development of an open source dynamic simulator for the COmpliant huMANoid robot, COMAN.  ...  The desired simulator for COMAN should include the direct and inverse dynamics, forward and inverse kinematics, actuator dynamic models, series elastic elements, ground model with friction, and good computational  ... 
doi:10.1109/icmech.2013.6519110 dblp:conf/icmech/DallaliMMDKTLC13 fatcat:pmowl7jiuvenhnw324syse6ot4

Application of symbolic manipulation to inverse dynamics and kinematics of elastic robots

M. H. Korayem, Y. Yao, A. Basu
1994 The International Journal of Advanced Manufacturing Technology  
A PC-based program has implemented the algorithm to automatically generate the inverse dynamics and kinematics for an elastic robot in a symbolic form.  ...  An inverse dynamics and kinematics of a flexible manipulator is derived in symbolic form based on the recursive Lagrangian assumed mode method.  ...  A mathematical model of elastic robot dynamics can be summarised in the following form: dt I 0Ozr j Oqjf Oqi / The inverse dynamics problem involves the calculation of the joint torque or forces using  ... 
doi:10.1007/bf01781288 fatcat:y5zvpkffezf4dilpgy5xyyht4i

Trajectory optimization for walking robots with series elastic actuators

Alexander Werner, Roberto Lampariello, Christian Ott
2014 53rd IEEE Conference on Decision and Control  
In this paper an optimization problem for cyclic walking of a robot with series elastic actuators is formulated and a flatness based solution method is presented.  ...  However finding a matching combination of joint stiffness and actuator input is challenging as these robots share the properties of underactuated and hybrid dynamic systems.  ...  Humanoid walking model with elastic joints This study uses a minimal model for a planar walking robot with two feet (N C = 2) shown in Fig. 2 .  ... 
doi:10.1109/cdc.2014.7039845 dblp:conf/cdc/WernerLO14 fatcat:k3e6ojo7srbovm7whe74zj5ak4

Splecial Issue on Active Control-Leading Application of Control Theory. Control and Control Theory for Flexible Robots

David P. MAGEE, Wayne J. BOOK
1993 Journal of The Society of Instrument and Control Engineers  
As the requirements for robot performance increase,  ...  Troch and Kopacek60) discuss control strategies for flexible robots, designs based on model simplification and the effects of actuator dynamics.  ...  Stability of the controller design is discussed and experiments verify the implementation. Rattan and Feliu46) derived a feedforward controller based on the dynamic model inversion technique.  ... 
doi:10.11499/sicejl1962.32.4_309 fatcat:rjxfrc4x3fbqxaialjjdeq2exe

Three-Dimensional Passivity-Based Dynamic Control for Tendon-Driven Catheters

Minou Kouh Soltani, Sohrab Khanmohammadi, Farzan Ghalichi, P. Plapper, M. Guo, S. Suhag
2016 MATEC Web of Conferences  
This paper presents a three-dimensional dynamic model for active catheters commonly implemented in cardiac ablation, and introduces nonlinear closed-form model-based control scheme.  ...  Results verify the viability of the introduced approach for its applicability in robot-assisted cardiac ablation.  ...  Passivity-based control leads to enhanced robustness in contrast to inverse dynamics and feedback-linearization which is based on cancellation of nonlinearities.  ... 
doi:10.1051/matecconf/20164201008 fatcat:xfkaxix6ozflfgrjgbq3ajsn74

A recursive Newton-Euler algorithm for robots with elastic joints and its application to control

Gabriele Buondonno, Alessandro De Luca
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
We consider the problem of computing the inverse dynamics of a serial robot manipulator with N elastic joints in a recursive numerical way.  ...  The developed tools are generic, easy to use, and do not require symbolic Lagrangian modeling and customization, thus being of particular interest when the number N of elastic joints becomes large.  ...  ACKNOWLEDGEMENT We would like to thank Taigo Maria Bonanni and Martina Deturres for their early work on this subject.  ... 
doi:10.1109/iros.2015.7354160 dblp:conf/iros/BuondonnoL15 fatcat:ltxzdikryrfftpenze7rifgueq
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