Publications Details
Dynamic damping control: Implementation issues and simulation results
Computed torque algorithms are used to compensate for the changing dynamics of robot manipulators in order to ensure that a constant level of damping is maintained for all configurations. Unfortunately, there are three significant problems with existing computed torque algorithms. First, they are nonpassive and can lead to unstable behavior; second, they make inefficient use of actuator capability; and third, they cannot be used to maintain a constant end-effector stiffness for force control tasks. Recently, we introduced a new control algorithm for robots which, like computed torque, uses a model of the manipulator's dynamics to maintain a constant level of damping in the system, but does so passively. This new class of passive control algorithms has guaranteed stability properties, utilizes actuators more effectively, and can also be used to maintain constant end-effector stiffness. In this paper, this approach is described in detail, implementation issues are discussed, and simulation results are given. 15 refs., 6 figs., 2 tabs.