Damping Selection for Cartesian Impedance Control With Dynamic Response Modulation
This article presents an analytical method to modulate the dynamic response of a robotic manipulator interacting with its environment when performing impedance-related robotic tasks, through the choice of stiffness and damping parameters. By joint space analysis of vibration and experiments, we prov...
Gespeichert in:
| Veröffentlicht in: | IEEE transactions on robotics 2022-06, Vol.38 (3), p.1915-1924 |
|---|---|
| Hauptverfasser: | , , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext bestellen |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 1924 |
|---|---|
| container_issue | 3 |
| container_start_page | 1915 |
| container_title | IEEE transactions on robotics |
| container_volume | 38 |
| creator | Saldarriaga, Carlos Chakraborty, Nilanjan Kao, Imin |
| description | This article presents an analytical method to modulate the dynamic response of a robotic manipulator interacting with its environment when performing impedance-related robotic tasks, through the choice of stiffness and damping parameters. By joint space analysis of vibration and experiments, we prove that in order to preserve a desired dynamic behavior of the robot in the Cartesian space, neither a stiffness nor damping matrix can be arbitrarily chosen; this choice has to meet the desired dynamic criteria for any given configuration. After mapping the parameters (matrices) into the joint space, we analyze the vibratory dynamics of the robot and identify the proper way of suppressing of the vibration modes by specific elements in the Cartesian damping matrix without need of trial and error. Our method is especially useful for redundant robots. We show and compare experimental results from two different 7 degrees of freedom robotic manipulators. |
| doi_str_mv | 10.1109/TRO.2021.3116855 |
| format | Article |
| fullrecord | <record><control><sourceid>proquest_RIE</sourceid><recordid>TN_cdi_proquest_journals_2674075584</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>9583671</ieee_id><sourcerecordid>2674075584</sourcerecordid><originalsourceid>FETCH-LOGICAL-c291t-263368f6706dbd6aaf04fd6ea229fc09716a48c1d14350ce36f20a1f1339437e3</originalsourceid><addsrcrecordid>eNo9kM1LwzAYxoMoOKd3wUvAc-ebzzZH6fwYTAZz4jHENtGONqlJd9h_b8eGp_c5_J7nhR9CtwRmhIB62KxXMwqUzBghshDiDE2I4iQDLovzMQtBMwaquERXKW0BKFfAJmg9N13f-G_8bltbDU3w2IWISxMHmxrj8aLrbW18ZXEZ_BBDiz-b4QfP9950TYXXNvXBJ4vfQr1rzWHgGl040yZ7c7pT9PH8tClfs-XqZVE-LrOKKjJkVDImCydzkPVXLY1xwF0traFUuQpUTqThRUVqwpmAyjLpKBjiCGOKs9yyKbo_7vYx_O5sGvQ27KIfX2oqcw65EAUfKThSVQwpRet0H5vOxL0moA_m9GhOH8zpk7mxcnesNNbaf1yJgsmcsD8YLmlM</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>2674075584</pqid></control><display><type>article</type><title>Damping Selection for Cartesian Impedance Control With Dynamic Response Modulation</title><source>IEEE Electronic Library (IEL)</source><creator>Saldarriaga, Carlos ; Chakraborty, Nilanjan ; Kao, Imin</creator><creatorcontrib>Saldarriaga, Carlos ; Chakraborty, Nilanjan ; Kao, Imin</creatorcontrib><description>This article presents an analytical method to modulate the dynamic response of a robotic manipulator interacting with its environment when performing impedance-related robotic tasks, through the choice of stiffness and damping parameters. By joint space analysis of vibration and experiments, we prove that in order to preserve a desired dynamic behavior of the robot in the Cartesian space, neither a stiffness nor damping matrix can be arbitrarily chosen; this choice has to meet the desired dynamic criteria for any given configuration. After mapping the parameters (matrices) into the joint space, we analyze the vibratory dynamics of the robot and identify the proper way of suppressing of the vibration modes by specific elements in the Cartesian damping matrix without need of trial and error. Our method is especially useful for redundant robots. We show and compare experimental results from two different 7 degrees of freedom robotic manipulators.</description><identifier>ISSN: 1552-3098</identifier><identifier>EISSN: 1941-0468</identifier><identifier>DOI: 10.1109/TRO.2021.3116855</identifier><identifier>CODEN: ITREAE</identifier><language>eng</language><publisher>New York: IEEE</publisher><subject>Cartesian coordinates ; Damping ; Dynamic response ; Dynamics ; Impedance ; impedance control ; Manipulator dynamics ; Manipulators ; Mathematical analysis ; Null space ; Parameters ; redundant robots ; Robot arms ; Stiffness ; Vibration analysis ; Vibration mode ; Vibrations ; Xenon</subject><ispartof>IEEE transactions on robotics, 2022-06, Vol.38 (3), p.1915-1924</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2022</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c291t-263368f6706dbd6aaf04fd6ea229fc09716a48c1d14350ce36f20a1f1339437e3</citedby><cites>FETCH-LOGICAL-c291t-263368f6706dbd6aaf04fd6ea229fc09716a48c1d14350ce36f20a1f1339437e3</cites><orcidid>0000-0003-1658-9166 ; 0000-0003-0574-3041 ; 0000-0001-9014-681X</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/9583671$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,776,780,792,27903,27904,54736</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/9583671$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Saldarriaga, Carlos</creatorcontrib><creatorcontrib>Chakraborty, Nilanjan</creatorcontrib><creatorcontrib>Kao, Imin</creatorcontrib><title>Damping Selection for Cartesian Impedance Control With Dynamic Response Modulation</title><title>IEEE transactions on robotics</title><addtitle>TRO</addtitle><description>This article presents an analytical method to modulate the dynamic response of a robotic manipulator interacting with its environment when performing impedance-related robotic tasks, through the choice of stiffness and damping parameters. By joint space analysis of vibration and experiments, we prove that in order to preserve a desired dynamic behavior of the robot in the Cartesian space, neither a stiffness nor damping matrix can be arbitrarily chosen; this choice has to meet the desired dynamic criteria for any given configuration. After mapping the parameters (matrices) into the joint space, we analyze the vibratory dynamics of the robot and identify the proper way of suppressing of the vibration modes by specific elements in the Cartesian damping matrix without need of trial and error. Our method is especially useful for redundant robots. We show and compare experimental results from two different 7 degrees of freedom robotic manipulators.</description><subject>Cartesian coordinates</subject><subject>Damping</subject><subject>Dynamic response</subject><subject>Dynamics</subject><subject>Impedance</subject><subject>impedance control</subject><subject>Manipulator dynamics</subject><subject>Manipulators</subject><subject>Mathematical analysis</subject><subject>Null space</subject><subject>Parameters</subject><subject>redundant robots</subject><subject>Robot arms</subject><subject>Stiffness</subject><subject>Vibration analysis</subject><subject>Vibration mode</subject><subject>Vibrations</subject><subject>Xenon</subject><issn>1552-3098</issn><issn>1941-0468</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2022</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNo9kM1LwzAYxoMoOKd3wUvAc-ebzzZH6fwYTAZz4jHENtGONqlJd9h_b8eGp_c5_J7nhR9CtwRmhIB62KxXMwqUzBghshDiDE2I4iQDLovzMQtBMwaquERXKW0BKFfAJmg9N13f-G_8bltbDU3w2IWISxMHmxrj8aLrbW18ZXEZ_BBDiz-b4QfP9950TYXXNvXBJ4vfQr1rzWHgGl040yZ7c7pT9PH8tClfs-XqZVE-LrOKKjJkVDImCydzkPVXLY1xwF0traFUuQpUTqThRUVqwpmAyjLpKBjiCGOKs9yyKbo_7vYx_O5sGvQ27KIfX2oqcw65EAUfKThSVQwpRet0H5vOxL0moA_m9GhOH8zpk7mxcnesNNbaf1yJgsmcsD8YLmlM</recordid><startdate>20220601</startdate><enddate>20220601</enddate><creator>Saldarriaga, Carlos</creator><creator>Chakraborty, Nilanjan</creator><creator>Kao, Imin</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><orcidid>https://orcid.org/0000-0003-1658-9166</orcidid><orcidid>https://orcid.org/0000-0003-0574-3041</orcidid><orcidid>https://orcid.org/0000-0001-9014-681X</orcidid></search><sort><creationdate>20220601</creationdate><title>Damping Selection for Cartesian Impedance Control With Dynamic Response Modulation</title><author>Saldarriaga, Carlos ; Chakraborty, Nilanjan ; Kao, Imin</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c291t-263368f6706dbd6aaf04fd6ea229fc09716a48c1d14350ce36f20a1f1339437e3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2022</creationdate><topic>Cartesian coordinates</topic><topic>Damping</topic><topic>Dynamic response</topic><topic>Dynamics</topic><topic>Impedance</topic><topic>impedance control</topic><topic>Manipulator dynamics</topic><topic>Manipulators</topic><topic>Mathematical analysis</topic><topic>Null space</topic><topic>Parameters</topic><topic>redundant robots</topic><topic>Robot arms</topic><topic>Stiffness</topic><topic>Vibration analysis</topic><topic>Vibration mode</topic><topic>Vibrations</topic><topic>Xenon</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Saldarriaga, Carlos</creatorcontrib><creatorcontrib>Chakraborty, Nilanjan</creatorcontrib><creatorcontrib>Kao, Imin</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>IEEE transactions on robotics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Saldarriaga, Carlos</au><au>Chakraborty, Nilanjan</au><au>Kao, Imin</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Damping Selection for Cartesian Impedance Control With Dynamic Response Modulation</atitle><jtitle>IEEE transactions on robotics</jtitle><stitle>TRO</stitle><date>2022-06-01</date><risdate>2022</risdate><volume>38</volume><issue>3</issue><spage>1915</spage><epage>1924</epage><pages>1915-1924</pages><issn>1552-3098</issn><eissn>1941-0468</eissn><coden>ITREAE</coden><abstract>This article presents an analytical method to modulate the dynamic response of a robotic manipulator interacting with its environment when performing impedance-related robotic tasks, through the choice of stiffness and damping parameters. By joint space analysis of vibration and experiments, we prove that in order to preserve a desired dynamic behavior of the robot in the Cartesian space, neither a stiffness nor damping matrix can be arbitrarily chosen; this choice has to meet the desired dynamic criteria for any given configuration. After mapping the parameters (matrices) into the joint space, we analyze the vibratory dynamics of the robot and identify the proper way of suppressing of the vibration modes by specific elements in the Cartesian damping matrix without need of trial and error. Our method is especially useful for redundant robots. We show and compare experimental results from two different 7 degrees of freedom robotic manipulators.</abstract><cop>New York</cop><pub>IEEE</pub><doi>10.1109/TRO.2021.3116855</doi><tpages>10</tpages><orcidid>https://orcid.org/0000-0003-1658-9166</orcidid><orcidid>https://orcid.org/0000-0003-0574-3041</orcidid><orcidid>https://orcid.org/0000-0001-9014-681X</orcidid></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 1552-3098 |
| ispartof | IEEE transactions on robotics, 2022-06, Vol.38 (3), p.1915-1924 |
| issn | 1552-3098 1941-0468 |
| language | eng |
| recordid | cdi_proquest_journals_2674075584 |
| source | IEEE Electronic Library (IEL) |
| subjects | Cartesian coordinates Damping Dynamic response Dynamics Impedance impedance control Manipulator dynamics Manipulators Mathematical analysis Null space Parameters redundant robots Robot arms Stiffness Vibration analysis Vibration mode Vibrations Xenon |
| title | Damping Selection for Cartesian Impedance Control With Dynamic Response Modulation |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-26T12%3A24%3A40IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_RIE&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Damping%20Selection%20for%20Cartesian%20Impedance%20Control%20With%20Dynamic%20Response%20Modulation&rft.jtitle=IEEE%20transactions%20on%20robotics&rft.au=Saldarriaga,%20Carlos&rft.date=2022-06-01&rft.volume=38&rft.issue=3&rft.spage=1915&rft.epage=1924&rft.pages=1915-1924&rft.issn=1552-3098&rft.eissn=1941-0468&rft.coden=ITREAE&rft_id=info:doi/10.1109/TRO.2021.3116855&rft_dat=%3Cproquest_RIE%3E2674075584%3C/proquest_RIE%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=2674075584&rft_id=info:pmid/&rft_ieee_id=9583671&rfr_iscdi=true |