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

Author

Rico, Zaira Pineda ; Lecchini-Visintini, A. ; Quiroga, R.Q.

Author_Institution

Dept. of Eng., Univ. of Leicester, Leicester, UK

fYear

2012

fDate

10-13 Dec. 2012

Firstpage

544

Lastpage

549

Abstract

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.

Keywords

feedback; friction; iterative methods; manipulators; three-term control; 7 degrees of freedom; 7-DOF whole arm manipulator; PID controllers; friction compensation; friction identification; iterative feedback tuning; joint controllers; proportional integral derivative controllers; Friction; Gravity; Joints; Linear programming; Manipulator dynamics; PD control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2012 IEEE 51st Annual Conference on

Conference_Location

Maui, HI

ISSN

0743-1546

Print_ISBN

978-1-4673-2065-8

Electronic_ISBN

0743-1546

Type

conf

DOI

10.1109/CDC.2012.6426694

Filename

6426694