Feedforward control of Variable Stiffness Joints robots for vibrations suppression. Biagiotti, L., Moriello, L., & Melchiorri, C. In 2017 IEEE International Conference on Robotics and Automation (ICRA), pages 5289–5294, May, 2017. doi abstract bibtex This paper presents a new feedforward controller based on a continuous-time finite impulse response filter, designed to minimize the vibrations that usually affect robot manipulators with elastic joints. In particular, Variable Stiffness Joints (VSJ) robots are considered, since they are usually characterized by a very low level of damping which makes the problem of the oscillations quite important. The proposed approach allows to simplify the overall control structure of VSJ robots, which is based on a decentralized control of each servomotor, imposing the desired position and the desired stiffness at each joint, and on a novel feedforward control, filtering the reference signals. After analyzing some of the filter properties and the method for the parameters choice, experimental results on a VSJ robot demonstrate the importance of the proposed filtering action for minimizing vibrations and oscillations.
@inproceedings{biagiotti_feedforward_2017,
title = {Feedforward control of {Variable} {Stiffness} {Joints} robots for vibrations suppression},
doi = {10.1109/ICRA.2017.7989621},
abstract = {This paper presents a new feedforward controller based on a continuous-time finite impulse response filter, designed to minimize the vibrations that usually affect robot manipulators with elastic joints. In particular, Variable Stiffness Joints (VSJ) robots are considered, since they are usually characterized by a very low level of damping which makes the problem of the oscillations quite important. The proposed approach allows to simplify the overall control structure of VSJ robots, which is based on a decentralized control of each servomotor, imposing the desired position and the desired stiffness at each joint, and on a novel feedforward control, filtering the reference signals. After analyzing some of the filter properties and the method for the parameters choice, experimental results on a VSJ robot demonstrate the importance of the proposed filtering action for minimizing vibrations and oscillations.},
booktitle = {2017 {IEEE} {International} {Conference} on {Robotics} and {Automation} ({ICRA})},
author = {Biagiotti, L. and Moriello, L. and Melchiorri, C.},
month = may,
year = {2017},
keywords = {Damping, FIR filters, Feedforward neural networks, Manipulators, Oscillators, Trajectory, VSJ robots, Vibrations, continuous-time finite impulse response filter, damping, decentralized control, elastic joints, feedforward, feedforward controller, filtering action, manipulators, oscillations, reference signals, robot manipulators, servomotor, variable stiffness joints robots, vibration control, vibrations suppression},
pages = {5289--5294}
}
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