Iterative Feedback Tuning for the joint controllers of a 7-DOF Whole Arm Manipulator

This paper presents the tuning of the Proportional Integral Derivative (PID) controllers of the joints of a 7 degrees of freedom (DOF) manipulator with friction using the Iterative Feedback Tuning method. In the procedure both experimental data and model simulations are used and two different approaches to the approximation of the Hessian are tested. Friction identification is also performed for the implementation of friction compensation over the pre-configured joint Proportional Derivative (PD) control of the manipulator. The responses of the system when using joint PID control and joint PD control with gravity and friction compensation are compared.