This paper presents a new feedforward controller based on a continuous-time finite impulse response filter, designed to minimize the vibrations that usually affect robot manipulators with elastic joints. In particular, Variable Stiffness Joints (VSJ) robots are considered, since they are usually characterized by a very low level of damping which makes the problem of the oscillations quite important. The proposed approach allows to simplify the overall control structure of VSJ robots, which is based on a decentralized control of each servomotor, imposing the desired position and the desired stiffness at each joint, and on a novel feedforward control, filtering the reference signals. After analyzing some of the filter properties and the method for the parameters choice, experimental results on a VSJ robot demonstrate the importance of the proposed filtering action for minimizing vibrations and oscillations.

Feedforward control of Variable Stiffness Joints robots for vibrations suppression / Biagiotti, Luigi; Moriello, Lorenzo; Melchiorri, Claudio. - (2017), pp. 5289-5294. ((Intervento presentato al convegno 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 tenutosi a Marina Bay Sands International Convention Centre, sgp nel 2017 [10.1109/ICRA.2017.7989621].

Feedforward control of Variable Stiffness Joints robots for vibrations suppression

Biagiotti, Luigi
Conceptualization
;
Melchiorri, Claudio
2017

Abstract

This paper presents a new feedforward controller based on a continuous-time finite impulse response filter, designed to minimize the vibrations that usually affect robot manipulators with elastic joints. In particular, Variable Stiffness Joints (VSJ) robots are considered, since they are usually characterized by a very low level of damping which makes the problem of the oscillations quite important. The proposed approach allows to simplify the overall control structure of VSJ robots, which is based on a decentralized control of each servomotor, imposing the desired position and the desired stiffness at each joint, and on a novel feedforward control, filtering the reference signals. After analyzing some of the filter properties and the method for the parameters choice, experimental results on a VSJ robot demonstrate the importance of the proposed filtering action for minimizing vibrations and oscillations.
2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Marina Bay Sands International Convention Centre, sgp
2017
5289
5294
Biagiotti, Luigi; Moriello, Lorenzo; Melchiorri, Claudio
Feedforward control of Variable Stiffness Joints robots for vibrations suppression / Biagiotti, Luigi; Moriello, Lorenzo; Melchiorri, Claudio. - (2017), pp. 5289-5294. ((Intervento presentato al convegno 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 tenutosi a Marina Bay Sands International Convention Centre, sgp nel 2017 [10.1109/ICRA.2017.7989621].
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11380/1148051
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