This paper deals with the control of a collaborative robot manipulator with series elastic actuators. In particular, robust tuning rules for cascade control of the joints are presented. Both the motor velocity and link position control loops are considered. The proposed tuning rules allow the online computation of robust control parameters to cope with the different link reflected inertia. Experimental results show the effectiveness of the method in real applications. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
Robust Tuning Rules for Series Elastic Actuator PID Cascade Controllers
Ghidini Stefano
Co-primo
Membro del Collaboration Group
;Beschi ManuelCo-primo
Membro del Collaboration Group
;Pedrocchi NicolaCo-ultimo
Membro del Collaboration Group
;Visioli AntonioCo-ultimo
Membro del Collaboration Group
2018
Abstract
This paper deals with the control of a collaborative robot manipulator with series elastic actuators. In particular, robust tuning rules for cascade control of the joints are presented. Both the motor velocity and link position control loops are considered. The proposed tuning rules allow the online computation of robust control parameters to cope with the different link reflected inertia. Experimental results show the effectiveness of the method in real applications. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.File in questo prodotto:
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Descrizione: Robust Tuning Rules for Series Elastic Actuator PID Cascade Controllers
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