Authors

Qi Zhang, Zongwu Xie, Sun Kui, Haitao Yang, Jin Minghe, Hegao Cai

Abstract

This paper presents an interconnection and damping assignment passivity based control (IDA-PBC) for the position and impedance control of flexible joint robot. In considering of the joint damping and with some simplification of friction, a flexible joint robot system is descripted as an port-controlled Hamiltonian system with dissipation(PCHD). Then, giving a desired Hamiltonian function which both shapes potential and kinetic energies, the control laws of position control and impedance control is derived by the algebraic IDA-PBC method, which preserves the PCHD structure of the close-loop system. Comparing with the traditional passivity based control (PBC), the proposed method gives a new explanation of the control of flexible joint robot by introducing the self-damping and cross-damping terms, which make the gain selecting procedure more intuitive and comfortable. Simulation and experiments are done to verify the proposed controller, and the results shows a promising performance both in position and impedance control.

Citation

  • Journal: Proceeding of the 11th World Congress on Intelligent Control and Automation
  • Year: 2014
  • Volume:
  • Issue:
  • Pages: 4242–4249
  • Publisher: IEEE
  • DOI: 10.1109/wcica.2014.7053426

BibTeX

@inproceedings{Zhang_2014,
  title={{Interconnection and damping assignment passivity-based control for flexible joint robot}},
  DOI={10.1109/wcica.2014.7053426},
  booktitle={{Proceeding of the 11th World Congress on Intelligent Control and Automation}},
  publisher={IEEE},
  author={Zhang, Qi and Xie, Zongwu and Kui, Sun and Yang, Haitao and Minghe, Jin and Cai, Hegao},
  year={2014},
  pages={4242--4249}
}

Download the bib file

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