Parameter identification and passivity based joint control for a 7 DOF torque controlled light weight robot

We propose a method for identifying the parameters of a flexible joint robot based on the motor position, current and the additional joint torque sensor information. We make some theoretical remarks on the passivity property of the new controller used in the experiments. Simulation results for the movement of the complete robot are compared to measurements in order to validate the quality of the model and the performance of the controller.

[1]  Alin Albu-Schäffer,et al.  On a new generation of torque controlled light-weight robots , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[2]  Mark C. Readman.  Flexible Joint Robots , 1994 .

[3]  Andrew A. Goldenberg,et al.  An Experimental Study of Nonlinear Stiffness, Hysteresis, and Friction Effects in Robot Joints with Harmonic Drives and Torque Sensors , 1997, Int. J. Robotics Res..

[4]  Rüdiger Neumann,et al.  Practical Realization of Mechatronics in Robotics , 1993, ISER.

[5]  Rogelio Lozano,et al.  Global tracking controllers for flexible-joint manipulators: a comparative study , 1995, Autom..

[6]  M. Jansen.  Learning an Accurate Neural Model of the Dynamics of a Typical Industrial Robot , 1994 .

[7]  Timothy D. Tuttle,et al.  Understanding and Modeling the Behavior of a Harmonic Drive Gear Transmission , 1992 .

[8]  J. Slotine,et al.  On the Adaptive Control of Robot Manipulators , 1987 .

[9]  Alin Albu-Schäffer,et al.  State feedback controller for flexible joint robots: a globally stable approach implemented on DLR's light-weight robots , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[10]  Gerd Hirzinger,et al.  Key issues in the dynamic control of lightweight robots for space and terrestrial applications , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[11]  P. Tomei.  A simple PD controller for robots with elastic joints , 1991 .

[12]  Hong Liu,et al.  A mechatronics approach to the design of light-weight arms and multifingered hands , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[13]  John M. Hollerbach,et al.  Gravity based autonomous calibration for robot manipulators , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[14]  Lin Tian,et al.  Robust adaptive control of flexible joint robots with joint torque feedback , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[15]  Petar V. Kokotovic,et al.  An integral manifold approach to the feedback control of flexible joint robots , 1987, IEEE J. Robotics Autom..

[16]  M. Spong.  Modeling and Control of Elastic Joint Robots , 1987 .

[17]  Alessandro De Luca,et al.  A general algorithm for dynamic feedback linearization of robots with elastic joints , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).