This paper presents an extension of impedance control of robots based on fractional cal-culus. In classical impedance control, the end-effector reactions are proportional to the end-effector position errors through the stiffness matrix K, while damping is proportional to the first-order time-derivative of the end-effector coordinate errors through the damping matrix D. In the proposed approach, a half-derivative damping is added, proportional to the half-order time-derivative of the end-effector coordinate errors through the half-derivative damping matrix HD. The discrete-time digital implementation of the half-order derivative alters the steady-state behavior, in which only the stiffness term should be present. Consequently, a compensation method is proposed, and its effectiveness is validated by multibody simulation on a 3-PUU parallel robot. The proposed approach can be considered the extension to MIMO robotic systems of the PDD1/2 control scheme for SISO mechatronic systems, with potential benefits in the transient response performance.


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    Titel :

    Application of the Half-Order Derivative to Impedance Control of the 3-PUU Parallel Robot



    Erscheinungsdatum :

    2022-01-01


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



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