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Robot impedance control and passivity analysis with inner torque and velocity feedback loops

Control Theory and Technology 2016年第2期14卷 97-112页

作者： Michele FOCCHI Gustavo A. MEDRANO-CERDA thiago boaventura Marco FRIGERIO Claudio SEMINI Jonas BUCHLI Darwin G. CALDWELL Department of Advanced Robotics Istituto Italiano di Tecnologia (liT) via Morego 30 16163 Genova Italy Agile & Dexterous Robotics Lab ETH Zurich Tannenstrasse 3 8092 Zurich Switzerland Received 21 January 2015 revised 10 December 2015 accepted 10 December 2015

Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. In particular, the viable range of stable stiffness and damping values can be strongly affected by the bandwidth of the inner control loops （e.g., a torque loop） as well as by the filtering and sampling frequency. This paper provides an extensive analysis on how these aspects influence the stability region of impedance parameters as well as the passivity of the system. This will be supported by both simulations and experimental data. Moreover, a methodology for designing joint impedance controllers based on an inner torque loop and a positive velocity feedback loop will be presented. The goal of the velocity feedback is to increase （given the constraints to preserve stability） the bandwidth of the torque loop without the need of a complex controller.

关键词： Impedance control torque control passivity and stability analysis

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On the use of positive feedback for improved torque control

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Control Theory and Technology 2015年第3期13卷 266-285页

作者： Houman DALLALI Gustavo A.MEDRANO-CERDA Michele FOCCHI thiago boaventura Marco FRIGERIO Claudio SEMINI Jonas BUCHLI Darwin G.CALDWELL Department of Advanced Robotics Istituto Italiano di Tecnologia(IIT) Agile and Dexterous Robotics Lab Institute of Robotics and Intelligent SystemsETH

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.

关键词： Force-torque control load motion compensation decentralized control

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Feasibility of Prototyping the Jominy Test Device: Corroborating for Studies and Preliminary Results of the Heating and Data Acquisition Subsystems

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Journal of Materials Science and Chemical Engineering 2021年第3期9卷 23-38页

作者： Giulliano A. S. boaventura Ramon O. B. Santos Renann P. Gama Regina E. S. Cabette Mariana F. B. Motta Cesar A. Botura Adriano C. M. Rosa Any M. Rosa Wilson F. Muniz Carlos D. Jaeger Luiz F. F. Honorato thiago A. Bimestre Edward P. I. Silva Beatriz Santos Livya V. M. Oliveira Theresa C. G. Venuto Henrique C. Sampaio Samuel F. V. Silva Izabela F. L. Calazans Felipe A. Santos Fagner C. F. Santos Fernando H. A. Oliveira Department Mechanical Engineering Salesian University Center of Sao Paulo (UNISAL) S&#227 o Paulo Brazil Department Management and Business State College of Technology (FATEC) S&#227 o Paulo Brazil Department Mathematics International University Center (UNINTER) S&#227 o Paulo Brazil

This work contributed to a detailed study on a better understanding of the Jominy test, adopted a proportion of study to create the Jominy test device, exhibited favorable conceptions for the development of a prototype of the device, covering the four aspects of the project, being they: test device, test body heating system, test automation and instrumentation using embedded electronics and financial analysis for the elaboration of this project in Brazil. It was possible to observe in the results that the system is efficient, simple and functional, it was possible to obtain the first test carried out in the controlled environment the temperature data in degrees centigrade, the recorded data were automatically launched in Microsoft Excel by the PLX DAQ software, making the acquisition of the data. In the matter of preparing the test device, the drawings are presented in the 3D modeling software, cost tables of the materials used for assembly in Brazil. In terms of the heating system, a heating system was adopted that uses electromagnetic induction, the cost of materials related to the heating system design was also presented. Another relevant factor that contributes to the research and improvement of the prototype is the municipality, located in the Paraiba Valley region, located in the state of São Paulo, consisting of a fertile and relevant scenario of regional, national, international and multinational statistics, thus concluding the effectiveness for the mainly metallurgical industries. The results obtained were satisfactory and consistent, when they were created for the Jominy test device with the ability to submit small pieces for testing and mainly essential in the didactic point of view for a higher education institution of engineering and technology.

关键词： Tempering Jominy Test Data Acquisition Heating

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