{"title":"基于位置控制的柔性关节机器人弹性结构保持控制","authors":"Jerónimo Moyrón;Christian Ott;Annika Kirner;Javier Moreno-Valenzuela","doi":"10.1109/TCST.2025.3562024","DOIUrl":null,"url":null,"abstract":"This article presents a novel control approach for flexible joint robots that use servo systems to control their motion. Under this configuration, the servo system is understood to have an inner feedback loop that accepts motor positions as inputs and uses torques as outputs. Hence, the soft robot uses motor positions as control inputs instead of torques. To address this system configuration with a reliable control system of high performance, we aim to generalize the elastic structure preserving (ESP) control approach, which previously has been proposed for backdrivable torque-controlled elastic robots, to robots with position-controlled elastic actuators. This scheme results in a dynamic feedback controller that recovers the elastic structure of the uncontrolled robot in the closed loop. At the same time, damping is injected, thus achieving a control system with high compliance and desired energy dissipation. Our results are supported by a rigorous analysis, where local input-to-state stability and output strict passivity can be concluded if the inner feedback loop from the servo system satisfies some assumptions. Experiments on two platforms validate the proposed control scheme and show the overall control system’s performance.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1810-1819"},"PeriodicalIF":3.9000,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Elastic Structure Preserving Control for Flexible Joint Robots With Position-Controlled Actuators\",\"authors\":\"Jerónimo Moyrón;Christian Ott;Annika Kirner;Javier Moreno-Valenzuela\",\"doi\":\"10.1109/TCST.2025.3562024\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This article presents a novel control approach for flexible joint robots that use servo systems to control their motion. Under this configuration, the servo system is understood to have an inner feedback loop that accepts motor positions as inputs and uses torques as outputs. Hence, the soft robot uses motor positions as control inputs instead of torques. To address this system configuration with a reliable control system of high performance, we aim to generalize the elastic structure preserving (ESP) control approach, which previously has been proposed for backdrivable torque-controlled elastic robots, to robots with position-controlled elastic actuators. This scheme results in a dynamic feedback controller that recovers the elastic structure of the uncontrolled robot in the closed loop. At the same time, damping is injected, thus achieving a control system with high compliance and desired energy dissipation. Our results are supported by a rigorous analysis, where local input-to-state stability and output strict passivity can be concluded if the inner feedback loop from the servo system satisfies some assumptions. Experiments on two platforms validate the proposed control scheme and show the overall control system’s performance.\",\"PeriodicalId\":13103,\"journal\":{\"name\":\"IEEE Transactions on Control Systems Technology\",\"volume\":\"33 5\",\"pages\":\"1810-1819\"},\"PeriodicalIF\":3.9000,\"publicationDate\":\"2025-03-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Transactions on Control Systems Technology\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://ieeexplore.ieee.org/document/10981666/\",\"RegionNum\":2,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Control Systems Technology","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10981666/","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Elastic Structure Preserving Control for Flexible Joint Robots With Position-Controlled Actuators
This article presents a novel control approach for flexible joint robots that use servo systems to control their motion. Under this configuration, the servo system is understood to have an inner feedback loop that accepts motor positions as inputs and uses torques as outputs. Hence, the soft robot uses motor positions as control inputs instead of torques. To address this system configuration with a reliable control system of high performance, we aim to generalize the elastic structure preserving (ESP) control approach, which previously has been proposed for backdrivable torque-controlled elastic robots, to robots with position-controlled elastic actuators. This scheme results in a dynamic feedback controller that recovers the elastic structure of the uncontrolled robot in the closed loop. At the same time, damping is injected, thus achieving a control system with high compliance and desired energy dissipation. Our results are supported by a rigorous analysis, where local input-to-state stability and output strict passivity can be concluded if the inner feedback loop from the servo system satisfies some assumptions. Experiments on two platforms validate the proposed control scheme and show the overall control system’s performance.
期刊介绍:
The IEEE Transactions on Control Systems Technology publishes high quality technical papers on technological advances in control engineering. The word technology is from the Greek technologia. The modern meaning is a scientific method to achieve a practical purpose. Control Systems Technology includes all aspects of control engineering needed to implement practical control systems, from analysis and design, through simulation and hardware. A primary purpose of the IEEE Transactions on Control Systems Technology is to have an archival publication which will bridge the gap between theory and practice. Papers are published in the IEEE Transactions on Control System Technology which disclose significant new knowledge, exploratory developments, or practical applications in all aspects of technology needed to implement control systems, from analysis and design through simulation, and hardware.