Abstract
| Original language | Undefined |
|---|---|
| Title of host publication | 2013 American Control Conference (ACC) |
| Place of Publication | Los Alamitos, CA, USA |
| Publisher | IEEE |
| Pages | 4957-4962 |
| Number of pages | 6 |
| ISBN (Print) | 978-1-4799-0177-7 |
| Publication status | Published - 19 Jun 2013 |
| Event | 2013 American Control Conference, ACC 2013 - Washington, United States Duration: 17 Jun 2013 → 19 Jun 2013 |
Publication series
| Name | |
|---|---|
| Publisher | IEEE |
| ISSN (Print) | 0743-1619 |
Conference
| Conference | 2013 American Control Conference, ACC 2013 |
|---|---|
| Abbreviated title | ACC |
| Country | United States |
| City | Washington |
| Period | 17/06/13 → 19/06/13 |
Keywords
- EWI-23815
- CE-Advanced Robotics
- Performance
- impedance control
- METIS-300072
- damping injection
- PID
- IR-87493
- tuning
Cite this
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PID motion control tuning rules in a damping injection framework. / Tadele, T.S.; de Vries, Theodorus J.A.; Stramigioli, Stefano.
2013 American Control Conference (ACC). Los Alamitos, CA, USA : IEEE, 2013. p. 4957-4962.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
TY - GEN
T1 - PID motion control tuning rules in a damping injection framework
AU - Tadele, T.S.
AU - de Vries, Theodorus J.A.
AU - Stramigioli, Stefano
PY - 2013/6/19
Y1 - 2013/6/19
N2 - 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.
AB - 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.
KW - EWI-23815
KW - CE-Advanced Robotics
KW - Performance
KW - impedance control
KW - METIS-300072
KW - damping injection
KW - PID
KW - IR-87493
KW - tuning
M3 - Conference contribution
SN - 978-1-4799-0177-7
SP - 4957
EP - 4962
BT - 2013 American Control Conference (ACC)
PB - IEEE
CY - Los Alamitos, CA, USA
ER -