PID motion control tuning rules in a damping injection framework

Tadele Shiferaw Tadele, Theo de Vries, Stefano Stramigioli

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    3 Citations (Scopus)

    Abstract

    This paper presents a general design approach for a performance based tuning of a damping injection framework impedance controller by using insights from PID motion control tuning rules. The damping injection framework impedance controller is suitable for human friendly robots as it enhances safety due to the compliance it introduces and guarantees asymptotic stability because of its passive nature. In order to perform successful manipulation with a damping injection framework controlled robot, a performance based analysis and tuning of the controller is essential. By mapping a performance based frequency domain tuning of PID controllers on the framework, the proposed tuning method attempts to analyze and define controller parameters that yield a desired performance requirement given in terms of the maximum allowed position error. The effectiveness of the proposed guideline is illustrated with simulation and experimental results.
    Original languageEnglish
    Title of host publication2013 American Control Conference (ACC)
    Place of PublicationLos Alamitos, CA, USA
    PublisherIEEE
    Pages4957-4962
    Number of pages6
    ISBN (Electronic)978-1-4799-0178-4
    ISBN (Print)978-1-4799-0177-7, 978-1-4799-0175-3
    DOIs
    Publication statusPublished - 19 Jun 2013
    Event2013 American Control Conference, ACC 2013 - Washington, United States
    Duration: 17 Jun 201319 Jun 2013

    Publication series

    NameProceedings American Control Conference
    PublisherIEEE
    Volume2013
    ISSN (Print)0743-1619
    ISSN (Electronic)2378-5861

    Conference

    Conference2013 American Control Conference, ACC 2013
    Abbreviated titleACC
    CountryUnited States
    CityWashington
    Period17/06/1319/06/13

    Keywords

    • CE-Advanced Robotics
    • Performance
    • Impedance control
    • Damping injection
    • PID
    • Tuning

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