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.

Robust Tuning Rules for Series Elastic Actuator PID Cascade Controllers

Beschi, Manuel;Visioli, Antonio
2018-01-01

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.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11379/508360
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