NDLI: On the regulation of the energy of elastic joint robots: Excitation and damping of oscillations

Content Provider	IEEE Xplore Digital Library
Author	Garofalo, G. Englsberger, J. Ott, C.
Copyright Year	2015
Description	Author affiliation: Inst. of Robot. & Mechatron., German Aerosp. Center (DLR), Wessling, Germany (Garofalo, G.; Englsberger, J.; Ott, C.)
Abstract	The paper presents a new control law for elastic joint robots that allows to regulate the energy stored in the system to a desired value. Being able to either remove energy from the system or inject it, oscillations can be both damped out and induced. Therefore the control law can be used for asymptotic regulation to a desired configuration and (in case of additional constraints) generation of asymptotically stable limit cycles. Compared to other methods, we can formally guarantee the previous property keeping at the same time the control law simple and easy to implement. Furthermore, using the energy stored by the intrinsic elastic elements in the joints, high energy efficiency is achieved. Simulations and experiments are also provided, in order to further validate the theoretical results.
Starting Page	4825
Ending Page	4831
File Size	536872
Page Count	7
File Format	PDF
e-ISBN	9781479986842
DOI	10.1109/ACC.2015.7172089
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-01
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Joints Robots Oscillators Limit-cycles Space vehicles Friction Damping
Content Type	Text
Resource Type	Article

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