On the use of positive feedback for improved torque control

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 over...

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Bibliographic Details
Published in:Control theory and technology 2015-08, Vol.13 (3), p.266-285
Main Authors: Dallali, Houman, Medrano-Cerda, Gustavo A, Focchi, Michele, Boaventura, Thiago, Frigerio, Marco, Semini, Claudio, Buchli, Jonas, Caldwell, Darwin G
Format: Article
Language:English
Subjects:
Acceleration
Complexity
Computational Intelligence
Control
Control and Systems Theory
Controllers
Engineering
Loads (forces)
Mechatronics
Optimization
Positive feedback
Rejection
Robot control
Robotics
Robots
Routh-Hurwitz判据
Systems Theory
Torque
封闭系统
应用
改进型
正反馈
电动执行机构
自由度系统
转矩控制器
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Summary: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.
ISSN:2095-6983
2198-0942
DOI:10.1007/s11768-015-4146-y