On the use of positive feedback for improved torque control
Houman DALLALI
Gustavo A MEDRANO-CERDA
Michele FOCCHI
Thiago BOAVENTURA
Marco FRIGERIO
Claudio SEMINI
Jonas BUCHLI
Darwin G CALDWELL
摘要：This paper considers the torque control problem for robots with flexible joints driven by electrical actuators. It is shown that the achievable closed-loop tracking bandwidth using PI torque controllers may be limited due to transmission zeros introduced by the load dynamics. This limitation is overcome by using positive feedback from the load motion in unison with PI torque controllers. The positive feedback is given in terms of load velocity, acceleration and jerk. Stability conditions for designing decentralized PI torque controllers are derived in terms of Routh-Hurwitz criteria. Disturbance rejection properties of the closed system are characterized and an analysis is carried out investigating the use of approximate positive feedback by omitting acceleration and/or jerk signals. The results of this paper are illustrated for a two DoF (degrees of freedom) system. Experimental results for a one DoF system are also included.
机标关键词：torque controlpositive feedbackclosed system
资助基金：Walk-Man (FP7-ICT-611832)
论文发表日期：2015-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：20( 266-285 )
英文信息