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Symplectic Discrete-Time Control of Flexible-Joint Robots: Experiments with Two Links⁎⁎This paper was not presented at any IFAC meeting.
- Source :
- IFAC-PapersOnLine; January 2021, Vol. 54 Issue: 19 p1-7, 7p
- Publication Year :
- 2021
-
Abstract
- We present the application and experimental validation of discrete-time control implementation based on symplectic integration - in short referred to as symplectic discrete-time control - to a serial robot manipulator with flexible-joints. Applying the implicit midpoint rule as a simple and popular symplectic integration scheme to both the model of the sampled system and the desired target dynamics, yields a discrete-time control law with the same structure as in continuous time. The arguments are, however, predicted stage values on the subsequent sampling interval resulting from a half implicit Euler step for the target system. The approach can be easily extended to a purely position-based feedback law. The experimental validation on a lightweight robot (KUKA LWR IV+) confirms the expected improvements at low sampling rates, with an increase in the assignable closed-loop stiffness of up to 29 %.
Details
- Language :
- English
- ISSN :
- 24058963
- Volume :
- 54
- Issue :
- 19
- Database :
- Supplemental Index
- Journal :
- IFAC-PapersOnLine
- Publication Type :
- Periodical
- Accession number :
- ejs58301358
- Full Text :
- https://doi.org/10.1016/j.ifacol.2021.11.046