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Proceedings

The of
of the
International
Proceedings 20th
20th World
Federation
the Worldof Congress
Automatic Control
Congress
The
The International
Proceedings
Toulouse, France,
International Federation
of the 20th9-14,
July World
Federation of Automatic
of Congress
2017
Automatic Control
Control
Toulouse, France, July Available online at www.sciencedirect.com
The International
Toulouse, July 9-14,
9-14, 2017
France,Federation of Automatic Control
2017
Toulouse, France, July 9-14, 2017
ScienceDirect
IFAC PapersOnLine 50-1 (2017) 4806–4811
Path
Path Following Control for Elastic Joint
Path Following
Following Control Control
Robots ⋆for
for Elastic
Elastic Joint
Joint
Path Following Control Robots ⋆
⋆for Elastic Joint
Robots ⋆
Robots
B. Bischof ∗ T. Glück ∗∗ M. Böck ∗ A. Kugi ∗
∗ ∗∗ ∗ ∗
B.
B. Bischof
Bischof ∗∗ T. T. Glück
Glück ∗∗ M.
M. Böck
Böck ∗∗ A. A. Kugi
Kugi ∗∗
∗∗
B.∗ Automation
Bischof T.and Glück M. Böck
Control Institute, TU Wien, A. Kugi

∗ Automation and Control Institute, TU Wien,
Automation
Gusshausstrasse and Control
27-29, 1040Institute,
∗Gusshausstrasse 27-29, 1040 Vienna, Austria
Vienna, TU Wien,
Austria
Automation
Gusshausstrasse
(e-mail: {Bischof, and Control
27-29,
Boeck, 1040Institute,
Vienna,
Kugi}@acin.tuwien.ac.at)TU Wien,
Austria
∗∗ (e-mail: {Bischof,
Gusshausstrasse Boeck,
27-29, Kugi}@acin.tuwien.ac.at)
1040
(e-mail: {Bischof, Boeck, Kugi}@acin.tuwien.ac.at) Vienna, Austria
∗∗ Complex Dynamical Systems, Austrian Institute of Technology,
∗∗ Complex Dynamical Systems,
Boeck,1,Austrian Institute of
∗∗
(e-mail:
Complex {Bischof,
Dynamical
Donau-City-Strasse Systems, Kugi}@acin.tuwien.ac.at)
Austrian
1220 Vienna, InstituteAustriaof Technology,
Technology,
ComplexDonau-City-Strasse
Dynamical
Donau-City-Strasse Systems, 1, 1220
Austrian Vienna,
Institute
1, 1220 Vienna, Austria
(e-mail: Tobias.Glueck@ait.ac.at) Austriaof Technology,
(e-mail:
(e-mail: Tobias.Glueck@ait.ac.at)
Donau-City-Strasse 1, 1220 Vienna, Austria
Tobias.Glueck@ait.ac.at)
(e-mail: Tobias.Glueck@ait.ac.at)
Abstract: This paper presents a path following control concept for elastic joint robots. A
Abstract:is This
Abstract:
controller This
designed paper
paperusing presents
presents a
a path
transverse path following
following
feedback control
control concept
linearization concept
and a parallelfor
for elastic
elastic joint
joint frame
transport robots.
robots. that A
A
controller
Abstract:
controller is
is designed
This
designed paperusing
using transverse
presents a
transverse feedback
path following
feedback linearization
control
linearization
is suitable for regular paths with parametrized fivefold continuously differentiable representation. and
concept
and a
a parallel
for
parallel transport
elastic joint
transport frame
robots.
frame that
that A
is
is suitable
controller
suitable is
Systematic for
for regular
regular paths
designed
application using
paths
of thewith
with parametrized
transverse feedback
parametrized
singular fivefold
fivefold
perturbation continuously
linearization
continuously
theory makes differentiable
and a parallel
differentiable
this concept transportrepresentation.
also frame
representation. that
applicable
Systematic
is suitable
Systematic
to for
elastic joint application
regular
robotspaths
application of
of the
with with
the singular
parametrized
singular
a larger perturbation
fivefold
perturbation
number of degrees theory
continuously
theory makes thisA concept
makes differentiable
of freedom. this concept
simulation also applicable
representation.
alsoexample
applicable for
to elastic
Systematic
atosix-axis joint
elastic joint robots
application
robots
industrial with
of the
withshows
robot a larger
singular
a larger number
the number
feasibility of
perturbation degrees
of degrees theory
of the proposedof freedom.
makes
of freedom. thisA simulation
concept
A simulation
approach also example
and theexample applicable
advantages for
for
a
to
a six-axis
elastic
six-axis industrial
joint robots
industrial robot
with
robot shows
a larger
shows
compared to classical trajectory tracking control. the
the feasibility
number
feasibility of of the
degrees
of the proposed
of freedom.
proposed approach
A
approach and
simulation
and the
the advantages
example
advantages for
compared
a to
to classical
six-axis industrial
compared classicalrobottrajectory
showstracking
trajectory control.
the feasibility
tracking control.of the proposed approach and the advantages
© 2017, IFAC
compared to (International
classical trajectory Federation of Automatic
tracking control. Control) Hosting by Elsevier Ltd. All rights reserved.
Keywords: Path Following Control, Transverse Feedback Linearization, Moving Frame, Elastic
Keywords:
Keywords:
Joint Robots, Path
Path Following
Following
Singular Control, Transverse Feedback
Control, Transverse Feedback Linearization,
Perturbation. Linearization, Moving Moving Frame,Frame, Elastic Elastic
Joint
Keywords: Robots, Path Singular
Following
Joint Robots, Singular Perturbation. Perturbation.
Control, Transverse Feedback Linearization, Moving Frame, Elastic
Joint Robots, Singular Perturbation.
1. INTRODUCTION Trajectory tracking for robots with elastic joints was al-
1. INTRODUCTION
1. INTRODUCTION Trajectory
Trajectory
ready solved tracking
for a for
tracking longrobots
for time,with
robots see, elastic
with elastic joints
joints was
e.g., Spong was al-
al-
(1987).
In trajectory tracking 1. INTRODUCTION
control, the reference is explicitly Trajectory ready
ready solved
Thereby, solved for
for aa for
a tracking
controller long
long
was time,
robots
time,with
derived see,
see, e.g.,
forelastic
e.g.,
the fullSpong
joints
Spong (1987).
statewas al-
(1987).
model
In trajectory
In trajectory tracking
parametrized tracking control,
in time. control,
In path the the reference
reference
following is explicitly
(PFC), as
is explicitly
control Thereby,
ready
Thereby, a
solved
well asa for controller
for
controller a
a singular was
long derived
time,
was perturbed for
see,
derived forreduced the
e.g., full
Spongstate
the full order model
(1987).
state model
parametrized
In trajectory
parametrized
which is a special in time.
in time.
trackingcase of Inmanifold
In path the
control,
path following
reference
following control
is the
control
stabilization, (PFC),
explicitly
(PFC), as
as well
refer- Thereby,
using as
asa for
wellstatic for aa singular
controller
state singular was perturbed
feedback derived
perturbed forreduced
linearization. the full
reduced In order
state
these model
order model
mod-
which is
parametrized
whichisisgiven
ence a special
a specialin
by the case
time. of
In
casegeometrymanifold
path
of manifold stabilization,
following
of astabilization,control
path withoutthe the refer-
(PFC),
refer-
a priori using
as
using
els, well
the static
as
static for state
a
state
motor/link feedback
singular
feedback
inertia linearization.
perturbed
linearization.
couplings reduced
were In
In these
order
neglected. mod-
these model
mod-
De
ence
whichis
ence
time isparametrization.
given
isgiven by the
a special
by the geometry
casegeometry
ofHence,
manifold of
in aastabilization,
of path without
path
contrast without the
to trajectory refer- using
aa priori
priori els,
els, the
Luca the
(1998)motor/link
static state feedback
motor/link
showed inertia
inertia couplings
linearization.
couplings
that linearization were
were In
is stillneglected.
these mod-
neglected.
possible De
De
via
time
ence parametrization.
is given
time parametrization.
tracking by the Hence,
geometry in
of a
Hence, in contrast
control, PFC intrinsically contrast
path to
without
accounts to trajectory
a priori
situations dynamic
for trajectory Luca
els, (1998)
the
Luca (1998) state showed
motor/link
showedfeedback that
inertia linearization
couplings
that linearization
when the couplings is
werestill possible
neglected.
is still possible
are taken via
De
via
tracking
time
trackingthe
where control,
parametrization.
control,
systemPFC PFC intrinsically
Hence,
intrinsically
cannot in
reach the accounts
contrast
accounts for
to situations
trajectory
velocity into
for situations
predefined dynamic
Luca
dynamic (1998)
account state
state showedfeedback
andfeedback that
solved the when
when the
linearization couplings
is
the couplings
trajectory still
trackingare are
possible taken
via
taken
problem.
where
tracking
where
due the
to the systemPFC
control,
system
limitations cannot
cannot
of the reach torques
intrinsically
reach
motor the
the predefined
accounts or for
predefined velocity
situations
velocity
external dis- into into account
dynamic
However, account the and
state and solved
feedback
solvedlaw
feedback the
when
the trajectory
the couplings
trajectory
becomes verytracking
tracking problem.
are taken
problem.
complicated, in
due
where
due to the
to
turbances. limitations
system of
limitations of the motor
cannot
the motor torques
reach torques or external
the predefined
or external
velocitydis- into
dis- However,
However, account
particular the
forand
the feedback
solvedlaw
feedback
manipulators thebecomes
law trajectory
becomes
with complexvery
very complicated,
tracking problem.
complicated,
dynamics. in
in
Ott
turbances.
due to
turbances. limitations of the motor torques or external dis- particular
However,
particular
(2008) for
the manipulators
feedback
for manipulators
introduced law
a passivity with
becomes
with complex
complex
based very dynamics.
complicated,
dynamics.
trajectory Ott
in
Ott
tracking
Nielsen
turbances. and Maggiore (2008) introduced manifold stabi- particular (2008) introduced
(2008) introduced
controller for
and Cartesian a
manipulators passivity
a passivity with
impedance based
complex trajectory
basedcontroller dynamics.
trajectory tracking
Ott
fortracking
flexible
Nielsen and
Nielsen
lization and Maggiore
Maggiore
for input (2008)
affine(2008)
systems introduced
introduced manifold stabi-
manifold
using input-output stabi-
feed- controller and Cartesian impedance basedcontroller
lization
Nielsen for
and input
Maggiore affine systems
(2008) using
introduced input-output
manifold feed-
stabi-
(2008)
controller
joint introduced
robots.andThereby, a passivity
Cartesian impedance
the motor/link inertiafor
trajectory
controller for flexible
tracking
flexible
couplings
lization
back for input affine
linearization with the systems using
so called input-output
Transverse Feedbackfeed- controller
joint
joint
were robots.
robots.
also and Thereby,
Cartesian
Thereby,
neglected. the motor/link
impedance
the motor/link inertia
controller
inertia couplings
for flexible
couplings
back linearization
lization
back linearization
Linearization for input(TFL), with
affine
with the
systems
the
where socontrolled
aso called
using
called Transverse
input-output
Transverse Feedback
invariantFeedback
subman-feed- joint were also neglected.
robots. Thereby, the motor/link inertia couplings
Linearization (TFL), where were also neglected.
back linearization
Linearization
ifold of the state (TFL), with
space isthe
where aasocontrolled
controlled
called
stabilized. invariant
InTransverse
invariant
Nielsen et al.subman-
Feedback
(2010), The
subman- were aim also of this work is to design a PFC for elastic joint
neglected.
ifold of
ifold of
TFL was the
Linearization state
theused (TFL),
stateto space
space is
wherestabilized.
solveis the a In
controlled
stabilized. Nielsen et
invariant
In Nielsenproblem
path following al.
subman-for a The
(2010),
et al. (2010), The aim
robots aim thatof this
this work
of only work
requires is
is to
tothedesign
design aa PFC
parametrized PFC for for elastic
elastic joint
representationjoint
TFL
ifold was
of the used
state
TFLdegrees-of-freedom
five to solve
space is
was used to solve magnetically the path
stabilized. following
In
the path following Nielsen
levitated problem
et al.
problem for
(2010),
positioning a
for a of robots
The
robots aim thatof
that only
the path. only
this
In the requires
work
requires is
following, tothe parametrized
design
the the a
parametrized PFC representation
for elastic et
strategy ofrepresentation
Bischof joint
al.
five
TFL degrees-of-freedom
was used
five degrees-of-freedom
system. to solve magnetically
Böck and Kugi magneticallythe path levitated
following
(2014) introduced levitated problem stabi- (2016) for fully actuated systems is adapted resulting al.
positioning
positioning
manifold for a of
of the
robots
the path.
that
path. In
only
In the
the following,
requires
following, the the
the strategy
parametrized
strategy of
of Bischof
representation
Bischof et
et al.
in
system.
five Böck and
degrees-of-freedom
system. Böck and Kugi
Kugi (2014)
magnetically
(2014) introduced
introduced
lization and PFC for flat systems where the manifold is manifold
levitated stabi-
positioning
manifold stabi- (2016)
of the
(2016)
a more for
path.
for fully
In
fully
complex theactuated
following,
actuated
coordinate systems
the
systems is
strategy
is
transformation adapted
adaptedof and resulting
Bischof
resultinget
feedback in
al.
in
lization
system.
lization in
defined and
Böck
andtermsPFC
and
PFCof for for
Kugi flat
theflat systems
(2014)
flat systems where
introduced
output ofwhere the manifold
manifold
the manifold
the system stabi-
and show is
is law. a more
(2016)
a more complex
for
Wecomplex fully
show that coordinate
actuated
coordinate
a static state transformation
systems is
transformation adapted and feedback
resulting
and feedback
feedback transformation in
defined
lization
defined
an in
andtermsPFC
in termstoofathe
application of the
for flat
flat output
systems
flat crane.
tower outputThe of the
where
of the system
the and
manifold
system and show
aforementioned show is
ap- can law.
a more
law. be We
Wefoundshow
complex that a
show that alinearizes static
coordinate state
static state feedback
transformation
the feedback transformation
and
dynamicstransformation feedback
in tangential
an application
application
defined inrely
terms toan
ofaathe
tower crane.
flat crane.
output Theof theaforementioned
system
of theand ap- law.
show can
and be
can We
be found
show that
found
transversal that alinearizes
static to
linearizes
direction the
state
the Cdynamics
a feedback
5
dynamics in
in tangential
transformation
tangential
an
proaches onto tower
implicit The
representation aforementioned manifold ap- 5 -path. The feedback
proaches
an application
proaches
or path rely on
rely
which on an
istoan implicit
a implicit
towerorcrane.
difficult representation ofto
The aforementioned
representation
even impossible of thefind.
the manifold
manifold ap- can and
and transversal
be found that
transversal
transformation direction
direction
contains theto
linearizes aa C
the
tosecond 5 -path. The
Cdynamics
-path.
order The
time feedback
in tangential
feedback
derivative
transformation contains the second 5 order time derivative
or path
proaches which
rely onis difficult
an implicit or even impossible
representation
or path which is difficult or even impossible to find. of to
thefind.
manifold and transversal
transformation
of the mass matrix direction
containsand the to
the Coriolisa C
second order -path.
matrix The
time feedback
andderivative
becomes
A
or PFC for fully
path which actuatedor rigid
is difficult even body
impossiblesystems that only transformation
to find. of the mass
of theextensive
very matrix
mass matrix contains
for andand
robots the
the Coriolis
second
the with
Coriolis matrix
order
complex timeand
and becomes
matrixdynamics. derivative
becomes To
A PFC
A PFC for
requires for fully
the fully actuated rigid
actuated representation
parametrized body
rigid body systems systems that
of the that
path onlyonly
was of very theextensive for robots with complex
requires
A PFC the
for parametrized
fully actuated representation
rigid body of
systems the path
that was
only very
simplify massthe matrix
extensive for and
control law,the
robots Coriolis
with
the PFC complex also dynamics.
ismatrix and becomes
dynamics.
developed To
To
for
requires thebyparametrized
introduced Bischof et al.representation
(2016). Using aofmoving the path was very
frame, simplify
simplify
a reduced the
extensive
the control
for
control
order singular law,
robots
law, the
with
the PFC
PFC
perturbed is
complex
is
modelalso
also developed
dynamics.
developed
and is for
To
for
applied
introduced
requires
introduced
the dynamics byparametrized
theby Bischof
Bischof
in et al.
et
tangential al.representation
(2016).
(2016).
and Using aaofdirections
Using
transversal moving
the path
moving frame,
was
frame,
to a simplify
ato reduced theorder
controlsingular law, perturbed
the PFC model
is also and is
developed applied
for
the dynamics
introduced
C 3 dynamics
the in
by in tangential
Bischof
tangential and
et al. and transversal
(2016). directions
Using a directions
transversal moving frame, to aa aatoreduced
to
a six-axis order singular elastic
industrial perturbed joint modelrobotand in isorder
appliedto
3 -path are linearized via static state feedback. Moreover, to aa six-axis
reducedsix-axis
demonstrate order
theindustrial
singular
industrial
feasibility elastic
perturbed
elastic
of the joint
joint model
proposed robot
robot and in
in isorder
concept. applied
order to
to
C
the -path
the-path
C 3 dynamicsare linearized
in coordinates
are linearized
transversal via
tangential static
and
via static state
state feedback.
are transversal
feedback.
the orthogonal Moreover,
directions
Moreover,
distances to a demonstrate
to a six-axisthe feasibility
industrial of
elastic the proposed
joint robotconcept.
in order to
C 3
the transversal
-path are coordinates
linearized via are
static the
state orthogonal
feedback. distances
Moreover, demonstrate the feasibility of the proposed concept.
thethe
to transversal
path enabling coordinates
an easy arecombination
the orthogonal of PFCdistances The paper is the
with demonstrate organized
feasibility as follows: In Sectionconcept.
of the proposed 2, the math-
to
to the
the path
transversal
the
compliance enabling
pathcontrol. an
an easy
coordinates
enabling easy arecombination
the orthogonal
combination of
of PFCdistances
PFC with The
with The paper
papermodel
ematical is
is organized
organized
of an elastic as
as follows:
follows: In
In Section
joint robot Section 2,
2, the
the math-
is described. math-
The
compliance
to the
compliance path control.
enabling
control. an easy combination of PFC with ematical
The paper
ematical
PFC based model
is
model
on of
organized
of
the an
an
full elastic
as
elastic
state joint
follows:
joint
model robot
In
robot
is is
Section
is
derived described.
2, the
described.
in Section The
math-
The3.
⋆ This research was partially supported by the Austrian Research
compliance
⋆ This researchcontrol.
was partially supported by the Austrian Research
PFC
ematical
PFC
This based
based
includes on
model
on the
of
the
the full
an
full state
elastic
state
transformation model
joint
model ofis
robot
is derived
is
derived
the in
in
coordinatesSection
described.
Section The3.
3.
into
⋆ This research
Promotion Agency was(FFG), grant
partially number: by
supported 850952.
the Austrian Research

Promotion Agency (FFG), grant number: 850952. This
PFC
This includes
based
includes on the
the
the transformation
full state
transformation model of
ofis the
the coordinates
derived in
coordinatesSection into
3.
into
This research was partially supported
Promotion Agency (FFG), grant number: 850952. by the Austrian Research
Promotion Agency (FFG), grant number: 850952. This includes the transformation of the coordinates into
Copyright © 2017 IFAC 4967
2405-8963 © 2017,
Copyright IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
Copyright ©© 2017
2017 IFAC
IFAC 4967
4967
Peer review©under
Copyright 2017 responsibility
IFAC of International Federation of Automatic
4967Control.
10.1016/j.ifacol.2017.08.965
Proceedings of the 20th IFAC World Congress

Toulouse, France, July 9-14, 2017 B. Bischof et al. / IFAC PapersOnLine 50-1 (2017) 4806–4811 4807

the tangential and transversal direction as well as the 3.2 Control Objectives
static state feedback law. A reduced order model using
singular perturbation theory is described in Section 3.5. The path following control objectives for the position yt
Based on this reduced model, a simpler control law is are defined as follows, see Nielsen et al. (2010).
derived. Finally, Section 4 shows the application of the
PFC based on the reduced model to a six-axis industrial (O1) Asymptotic convergence to the path: The output yt of
robot, where also the differences of the PFC and a classical the system converges asymptotically to the path γt .
trajectory tracking control are shown. (O2) Invariance property: If the coordinates q and θ
as well as their velocities at time t0 are ele-

ments of the controlled invariant
 subset Γ of Γ =
2. MATHEMATICAL MODEL
 T
q̄T q̄˙ T θ̄ T θ̄˙ T : h (q̄) ∈ γ , then yt stays on the
The dynamics of a robot with elastic joints are given by, path γt for all t ≥ t0 .
see, e.g., Spong (1987), (O3) Tangential motion: Some application-specific motion
D(q)q̈ + n(q, q̇) = τj (1a) on the path γt can be achieved.
Dm θ̈ = τ − τj (1b) 3.3 Coordinate Transformation
with the joint torques τj = Kc (θ − q) and
n(q, q̇) = C(q, q̇)q̇ + g(q) + τf (q̇) . Next, the link and motor coordinates q and θ as well as
their velocities are transformed into tangential, transver-
In (1), q ∈ Rm are the generalized link coordinates, sal, and orientational coordinates η, ξ, and ζ with respect
θ ∈ Rm denote the generalized motor coordinates and to the path γ.
τ ∈ Rm are the generalized forces of the motors. Friction is
modeled by τf (q̇) ∈ Rm .The mass matrix D(q) ∈ Rm×m , Orthonormal Frame An orthonormal, parallel transport
the Coriolis matrix C(q, q̇) ∈ Rm×m and the vector of frame along the path γt is constructed, where e|| (θ) is the
gravitational forces g(q) ∈ Rm are the same as for the tangent unit vector and e⊥ (θ) and e⋔ (θ) are the normal
rigid body model. The positive definite diagonal matrix unit vectors, see Bischof et al. (2016) for more details and
Kc ∈ Rm×m models the (linear) stiffness of the joints and Fig. 1 for illustration.
Dm ∈ Rm×m is the motor inertia diagonal matrix. The
output function
    e|| (θ∗ ) |δ 2| yt = ht (q)
y h (q)
y= t = t

|δ1 |
= h(q) (2)
yr hr (q)
is supposed to be sufficiently smooth, where yt ∈ Rmt yt∗ = σt (θ∗ )
e⋔ (θ∗ )
represents the position and yr ∈ Rmr the orientation
of the robot’s end-effector and m = mt + mr . The e⊥ (θ∗ )
Jacobian J(q) = ∂h/∂q is assumed to be nonsingular. The path γt
mathematical model (1) neglects the motor/link inertia
couplings. Because of this simplification, the dynamic z0
model features a vector relative degree of r = {4, 4, . . . , 4} θ = θ0
and is full state exact linearizable via static state feedback, y0
see Spong (1987). x0

3. PFC FOR ELASTIC JOINT ROBOTS Fig. 1. Path illustration.


A PFC strategy for fully actuated rigid body systems Projection Operator The orthogonal projection is used
was introduced in Bischof et al. (2016). This controller to find the closest point yt∗ = σt (θ∗ ) on the path γt to yt .
will be adapted in this work for elastic joint robots The time derivative of the optimal path parameter θ∗ can
given by (1). Since in this case the vector relative degree be derived from the conditions for optimality and reads as
is r = {4, 4, . . . , 4}, the coordinate transformation and
β(yt )eT ∗
|| (θ )
the control law is more complex for elastic joint robots θ̇∗ = ẏt , (3)
compared to fully actuated systems considered in Bischof �σt′ (θ∗ )�2
et al. (2016).
  
where β(yt ) = 1/ 1 − α(yt ) and α(yt ) = yt −
T
σt (θ∗ ) σt′′ (θ∗ )/�σt′ (θ∗ )�22 , with σt′ (θ∗ ) = (∂σt /∂θ) (θ∗ ),
3.1 Path Assumptions see Bischof et al. (2016). The feasible neighborhood to the
path γt wherein the projection operator features a strict
The regular parametrized curve σ T (θ) = σtT (θ) σrT (θ) :
 
minimum is defined in Bischof et al. (2016).
T �→ Rm defines the path γ, where σt (θ) ∈ Rmt denotes
the reference position and σr (θ) ∈ Rmr the reference Transformed Coordinates The arc length
orientation. The path can be separated into a position part  θ∗
γt defined by σt (θ) and an orientation part γr defined by η1 = g(yt ) = �σt′ (τ )�2 dτ (4)
σr (θ). The path parameter θ is an element of a nonempty θ0
set T ⊆ R. In contrast to the fully actuated system, σ(θ) from an initial path parameter θ0 = θ(t0 ) ∈ T to the
has to be C 5 for the elastic joint robot. optimal parameter θ∗ is chosen as the first tangential

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coordinate. The projections of yt − σt (θ∗ ) onto the normal ¨ ˙


ŷ(4) = Ĵ(3) q̇ + 3Ĵq̈ + 3Ĵq(3)
vectors e⊥ and e⋔ are defined as the transversal coordi-
− ĴD−1 2Ḋq(3) + D̈q̈ + n̈ + Kc q̈ (12)

nates ξ1 and ξ3
ξ1 = δ1 (yt ) = eT ∗ ∗
� �
⊥ (θ ) yt − σt (θ ) , (5) + Kc D−1 −1
Kc D−1

m τj + ĴD m τ .
T ∗ ∗
� �
ξ3 = δ2 (yt ) = e⋔ (θ ) yt − σt (θ ) . (6) Hence, application of the feedback transformation
The first orientational coordinate is simply given by
� �
τ = D−1 e ve − b(q, q̇, θ, θ̇) (13a)
ζ1 = yr = hr (q) . (7)
T T
� T
� to the system (1), with the new control input ve ∈ Rm ,
A virtual output ŷ = ĥ (q) = η1 ξ1 ξ3 ζ1 is intro-
the decoupling matrix
duced and its time derivative yields
ŷ˙ = L(q)ẏ , (8) De (q) = ĴD−1 Kc D−1
m , (13b)
with the matrices and the vector
¨ ˙
β(yt )eT b(q, q̇, θ, θ̇) = Ĵ(3) q̇ + 3Ĵq̈ + 3Ĵq(3) − De τj
 
||
� �
E(q) 0
L(q) = and E(q) =  eT , (9)
� �
0 I ⊥
T
− ĴD−1 2Ḋq(3) + D̈q̈ + n̈ + Kc q̈
e⋔
(13c)
where I is the identity matrix, see Bischof et al. (2016).
results�in a linear input-output relation from the new input
T T
veT = ve,t T
� � �
Diffeomorphism The coordinate transformation Φ : ve,r , where ve,t = v|| v⊥ v⋔ , to the virtual
R4m → R4m maps the generalized coordinates q, θ and output ŷ in the form of m integrator chains of length four
their time derivatives q̇, θ̇ to the tangential, transversal, ŷ(4) = ve . (14)
and orientational coordinates ŷ and their time derivatives The new inputs v⊥ and v⋔ can be used to fulfill the control
˙ ŷ,
ŷ, ¨ and ŷ(3) . The mapping Φ reads as
objectives (O1) and (O2) and with v|| an application
g ◦ ht (q)
 
specific motion along the path can be achieved.
   δ1 ◦ ht (q) 
ŷ δ2 ◦ ht (q) 3.5 PFC Using Singular Perturbation Theory
 
 ŷ˙  
 
= hr (q) 
 = Φ(q, q̇, θ, θ̇)
¨  

 ŷ Ĵq̇
 The feedback transformation (13) for the full state model
 
(3)
ŷ  Ĵ˙ q̇ + ĴD−1 (τj − n)  of an elastic joint robot contains the second order time
 
derivative of the mass matrix D(q) and the Coriolis ma-
r + ĴD−1 (τ̇j − ṅ − Ḋq̈) trix C(q, q̇). Hence, the control law is computationally
(10) demanding for robots with complex dynamics, e.g., an
with the matrix industrial robot with six degrees of freedom. Therefore,
Ĵ(q) = L(q)J(q) a singular perturbation approach is proposed in the fol-
¨ ˙ lowing.
and the vector r = Ĵ(q, q̇, q̈)q̇ + 2Ĵ(q, q̇)q̈.
Lemma 1. The mapping Φ : X �→ Z ⊂ R4m with X = Singular Perturbation Approach Singular perturbation
Q × R3m , Q = {q̄ ∈ Rm : α ◦ ht (q̄) < 1}, is a C 1 - theory, see Khalil (2002), has been widely used to simplify
diffeomorphism, if J(q) is nonsingular. the controller design for robots with elastic joints, see,
e.g. Spong (1987) and Ott (2008). Within this approach,
Proof. Based on the inverse function theorem, see, e.g.,
the system dynamics are split up into a fast and a slow
Theorem 8.2 in Munkres (1993), we have to show that
subsystem. For the problem at hand, the slow subsystem is
(i.) X and Z are open in R4m , related to the link dynamics and the fast subsystem to the
(ii.) Φ ∈ C 1�(X , Z), and joint dynamics. In order to apply the singular perturbation
theory to the elastic joint robot, the dynamics of the joint

(iii.) ∇Φ = ∂Φ/∂q ∂Φ/∂ q̇ ∂Φ/∂θ ∂Φ/∂ θ̇ is nonsingu-
� �T torques τj have to be fast in comparison to the dynamics
lar ∀ qT q̇T θ T θ̇ T ∈ X . of the joint coordinates q. Hence, the stiffness Kc needs to
Since Q is an open subset of Rm , X and Z are open in R4m . be sufficiently large, which is why Kc is formally replaced
The output y = h(q) is assumed to be sufficiently smooth by Kc = Kǫ /ǫ2 , with 0 < ǫ ≪ 1, see Ott (2008). The slow
and σ(θ) ∈ C 5 (T , Rm ), hence, Φ ∈ C 1 (X , Z) holds. The quasi-steady state model is then given by, see Ott (2008),
Jacobian of the mapping Φ ¨ + n(q̄, q̄)
(D(q̄) + Dm ) q̄ ˙ = τ̄ , (15)
where a bar refers to a quasi-steady state. This model
 
Ĵ 0 0 0
 ∗ Ĵ 0 0  corresponds to the rigid body model with neglected cou-
∇Φ =   ∗ ∗ ĴD−1 Kc
 (11) pling effects between the rotor and the link motion. The
0 
boundary layer model in the new coordinates z = τj − τ̄j
∗ ∗ ∗ ĴD−1 Kc and the fast time ν = (t − t0 )/ǫ with (arbitrary) initial
is nonsingular, if J(q) is nonsingular, and q ∈ Q, which time t0 reads as, see Ott (2008),
implies that L(q) is nonsingular.
d2 z
+ Kǫ D−1 (q) + D−1 −1
� �
2 m z = Kǫ Dm (τ − τ̄ ) . (16)
3.4 Feedback Transformation dν
Because q is considered to be constant in the fast time
Differentiating the virtual output ŷ four times with respect ν, the boundary layer system (16) is linear and time
to time yields invariant.

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Controller A composite controller is used in the follow- the optimal path parameter θ∗ . The orientation error can
ing. The control input τ is split up into a slow component simply be defined by the difference between the actual
τs and a fast component τf such that the slow component Euler angles φTe = [ϕ ϑ ψ] and the reference Euler an-
only affects the quasi-steady state model (15) and the gles φT T ∗
d = [ϕd ϑd ψd ] = σr (θ ). However, the problem
boundary layer model (16) is only affected by the fast becomes ill-conditioned when the actual orientation gets
component. The overall control input reads as τ = τs +τf . close to a representation singularity. To avoid this prob-
The path following controller is designed for the quasi- lem, the orientation error can be defined locally as, see
steady state model (15), which corresponds to the rigid Caccavale et al. (1998),
body model resulting in the slow control input component, Red = RTe Rd , (20)
see Bischof et al. (2016), where Rd is the rotation matrix of the reference Euler
˙ angles φd , Re is the rotation matrix of the end-effector
� �
τs = n + (D + Dm ) Ĵ−1 vs − Ĵq̄˙ . (17)
orientation, and φde are the ZYX Euler angles of Red .
Hence, the path parametrization σ(θ) only has to be C 3 . Following along the lines of Caccavale et al. (1998), the
The fast control input component τf = −ǫDb τ̇j , with new rotational control input is chosen as
the positive definite damping matrix Db , gives rise to
� �
vs,r = ω̇d − Ḃ(φde )φ̇de + B(φde ) aζ,2 φ̇de + aζ,1 φde ,
exponentially stable closed-loop dynamics of the boundary
layer system (16), see Ott (2008). Hence, applying the (21)
with ωd = T σr (θ∗ ) σr′ (θ∗ )θ̇∗ , B(φde ) = Re T(φde ), T(·)
� �
singular perturbation approach to elastic joint robots
tremendously simplifies the path following controller. according to (A.2), and aζ,1 , aζ,2 > 0.

4. PFC FOR A SIX-AXIS INDUSTRIAL ROBOT Error Dynamics Inserting the control laws (19) and
WITH ELASTIC JOINTS (21) into the linear system (18) and using the relation
ωd − ωe = B(φde )φ̇de yields the exponentially stable error
To show the capabilities of the singular perturbation dynamics
PFC approach, the design concept is applied to a six- ëη + aη,2 ėη + aη,1 eη
 
axis industrial robot with elastic rotary joints, where  ξ̈1 + aξ,2 ξ̇1 + aξ,1 ξ1 
the stiffness Kc is sufficiently large and m = 6 holds.  ξ̈3 + aξ,2 ξ̇3 + aξ,1 ξ3  = 0 . (22)
 
The mass matrix D(q) and the Coriolis matrix C(q, q̇)
of this type of robot are rather complex. Hence, the φ̈de + aζ,2 φ̇de + aζ,1 φde
feedback transformation (13) for the full state model The components two and three of (22) show that ξ1 and ξ3
is computationally extensive. Thus, exclusively the PFC exponentially converge to zero and, thus, objective (O1) is
�T
singular perturbation approach is used.

fulfilled. Additionally, if qT (t0 ) q̇T (t0 ) θ T (t0 ) θ̇ T (t0 ) ∈
Γ∗ , then vs,⊥ = 0 and vs,⋔ = 0 holds, the output yt stays
4.1 Controller on the path γt for all t ≥ t0 , and objective (O2) is fulfilled.
Component one of (22) shows that the first tangential
The system output y of a six-axis industrial robot with coordinate η1 exponentially converges to the reference η1,d .
elastic rotary joints contains the position yt and orienta- Hence, objective (O3) is also satisfied.
tion yr of the end-effector in the three dimensional space.
The orientation of a rigid body is often represented by 4.2 Simulation Results
Euler angles φe . In this case, the output’s Jacobian is
given by the so called analytic Jacobian Ja from (A.4) The parameters of the industrial robot Comau Racer 1.4
which suffers from representation singularities. Therefore, are chosen for the simulation model. This robot has a
the geometric manipulator Jacobian J = Jg from (A.3) maximum payload of 7 kg and its Denavit-Hartenberg
in Appendix A is used for the path following concept of parameters are listed in Table 1, where i denotes the
Bischof et al. (2016) resulting in the linear system number of the respective link. The stiffness of the joints is
¨ T = η̈1 ξ̈1 ξ̈3 ω̇ T = vT vT = vT , given by Kc = 104 · diag(35, 35, 19, 3, 1, 0.5)Nm/rad.
� � � �
ŷ e s,t s,r (18)
s
with the new translational and rotational control inputs Table 1. DH parameters of the Comau Racer.
vs,t and vs,r and the angular velocities of the end-effector
ωe expressed in the inertial frame. i di ai αi i di ai αi
π
1 0.43m 0.15m 2
4 0.684m 0 − π2
π
Position Controller The position controller is given by, 2 0 0.59m 0 5 0 0 2
π
see Bischof et al. (2016), 3 0 0.13m 2 6 0.1m 0 0

η̈1,d − aη,2 ėη − aη,1 eη

The control laws (19) and (21) are used and the control
vs,t =  −aξ,2 ξ̇1 − aξ,1 ξ1  , (19) parameters are listed in Table 2, with ǫDb = 10−3 ·
−aξ,2 ξ̇3 − aξ,1 ξ3 diag(22, 22, 8.8, 2.4, 4.4, 2.2) Nms/rad. The path γ and
with the C 2 reference position on the path η1,d , eη = η1 − Table 2. Control parameters for the 6R robot.
η1,d , and the positive control parameters aη,i , aξ,i , aζ,i and
i ∈ {1, 2}. Symbol Value Unit Symbol Value Unit
aη,1 361 1/s2 aξ,1 729 1/s2
Orientation Controller The orientation controller is de- aη,2 38 1/s aξ,2 54 1/s
signed in such way that the orientation is coupled to aζ,1 625 1/s2 aζ,2 50 1/s

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therefore the parametrization σ T (θ) = σtT (θ) σrT (θ) ,


 
1
is an approximation using quartic splines of the recorded

tang. state in m
end-effector position and orientation during an experiment
on a real robot and its position part is depicted in
Fig. 2. The reference η1,d for the tangential coordinate η1 0.5

η1
η1,d
0
z0 in m

1 5

trans. states in mm
0

0.8 −10
output yt
−20 ξ1
0.8 yt (t = 0)
path γt ξ3
−30
0.9
x0

Euler angle ϕ in rad


0.3 0.4 ϕ
0.2
in

0.1 ϕd
0
m

−0.1 0.2
y0 in m
0
Fig. 2. Path γt and simulated output yt .

smoothly connects the starting point η1,d,0 = 0.026m and −0.2


the end point η1,d,T = 0.954m with a maximum velocity
of η̇1,d = 0.3m/s. An external force acts between t = 1.5s
motor torques in Nm

and t = 2.0s in a way that the system is slowed down in 500


tangential direction to the path to show the benefits of
the PFC in comparison to a classical trajectory tracking
control. 0
The first row of Fig. 3 shows that the desired motion τ1
on the path η1,d can be tracked very well except for the τ2
time period where the external force is applied. The two −500 τ3
transversal states ξ1 and ξ3 , which are depicted in the
second row, converge to zero and stay approximately at
motor torques in Nm

zero even with the external force. In the third row, it can be
seen that the Euler angle ϕ of the end-effector’s orientation 0
φe quickly converges to the reference Euler angle ϕd . The
other two Euler angles ϑ and ψ have a similar behavior and
are not depicted here. In contrast to trajectory tracking −10
control, cf. Fig. 4, the progress of the reference orientation τ4
automatically slows down corresponding to the actual τ5
τ6
speed on the path. In the last two rows, the motor torques
−20
τ are depicted. 0 1 2 3 4
For a comparison of the PFC with trajectory tracking t in s
control, a computed torque controller is implemented for
the same elastic joint robot. The reference trajectory is Fig. 3. Simulated performance of the PFC for a 6R elastic
constructed using the path γ of Fig. 2 and the same joint robot.
reference motion on the path as for the PFC. The control
parameters are chosen in such a way that the trajectory
tracking control has similar dynamics as the PFC. The
same force acting between t = 1.5s and t = 2.0s is applied direction to the path with an external force, cf. Fig. 3. The
to the end-effector. The output yt is transformed into last row in Fig. 4 shows the Euler angle ϕ and the reference
tangential and transversal coordinates η1 , ξ1 , and ξ3 for Euler angle ϕd = σr,1 (θ∗ ) corresponding to the actual
better comparability. The first row of Fig. 4 shows that the optimal path parameter θ∗ . Since the reference trajectory
motion along the path with the trajectory tracking control is parametrized in time, the progress of the orientation
is similar to the PFC. In the second row, the deviations does not slow down. This is in contrast to the PFC, where
to the path are depicted. The error is much bigger than the progress of the reference orientation is defined by the
for the PFC when the robot is slowed down in tangential progress on the path.

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1 Caccavale, F., Natale, C., Siciliano, B., and Villani, L.


(1998). Resolved-acceleration control of robot manip-
tang. state in m

ulators: A critical review with experiments. Robotica,


16(5), 565–573.
0.5 De Luca, A. (1998). Trajectory control of flexible manip-
ulators. In B. Siciliano and K. Valavanis (eds.), Control
Problems in Robotics and Automation, 83–104. Springer,
η1
η1,d Berlin Heidelberg.
0 Khalil, H.K. (2002). Nonlinear Systems. Prentice Hall,
Englewood Cliffs, 3rd edition.
Munkres, J.R. (1993). Analysis on Manifolds. Addison-
trans. states in mm

10 Wesley, Redwood City.


Nielsen, C., Fulford, C., and Maggiore, M. (2010). Path
0 following using transverse feedback linearization: Ap-
−10 plication to a maglev positioning system. Automatica,
46(3), 585–590.
−20 ξ1 Nielsen, C. and Maggiore, M. (2008). On local transverse
ξ3 feedback linearization. SIAM Journal on Control and
−30 Optimization, 47(5), 2227–2250.
Ott, C. (2008). Cartesian Impedance Control of Redundant
Euler angle ϕ in rad

0.4 ϕ and Flexible-Joint Robots. Springer, Berlin Heidelberg.


ϕd Siciliano, B., Sciavicco, L., Villani, L., and Oriolo, G.
0.2 (2009). Robotic, Modelling, Planning and Control.
Springer, London.
0 Spong, M.W. (1987). Modeling and control of elastic
joint robots. ASME Journal of Dynamic Systems,
−0.2 Measurement, and Control, 109, 310–319.

0 1 2 3 4 Appendix A. GEOMETRIC AND ANALYTIC


t in s JACOBIAN

Fig. 4. Simulated performance of the trajectory tracking Given a ZYX Euler angle representation φT e = [ϕ ϑ ψ],
control for a 6R elastic joint robot. the relationship between the angular velocities of the end-
effector ωe expressed in the inertial frame and the time
5. CONCLUSIONS derivative of the Euler angles φ̇e reads as, see Siciliano
et al. (2009),
In this paper, a path following control (PFC) concept for
elastic joint robots is presented. For robots with complex ωe = T(φe )φ̇e (A.1)
dynamics, the feedback transformation for the full state with
model is rather extensive and, hence, computationally 0 − sin(ϕ) cos(ϕ) sin(ϑ)
 
demanding. By a systematic application of the singular T(φe ) = 0 cos(ϕ) sin(ϕ) sin(ϑ) . (A.2)
perturbation theory, the controller is greatly simplified 1 0 cos(ϑ)
which makes the PFC applicable to elastic joint robots We now have to distinguish between the manipulator
with a large number of degrees of freedom. In a simulation (geometric) Jacobian Jg and the analytic Jacobian Ja ,
example for a six-axis industrial robot, a proof of concept is where  
given and the advantages of the PFC compared to classical ẏt
trajectory control are demonstrated. = Jg q̇ (A.3)
ωe
ACKNOWLEDGEMENTS and  
ẏt
= Ja q̇ (A.4)
This research was partially supported by the Austrian Re- φ̇e
search Promotion Agency (FFG), grant number: 850952. holds, with the analytic Jacobian
 
I 0
REFERENCES Ja = J . (A.5)
0 T−1 (φe ) g
Böck, M. and Kugi, A. (2014). Manifold stabilization and
path–following control for flat systems with application
to a laboratory tower crane. In Proc. 53rd IEEE Conf.
on Decision and Control, 4529–4535. Los Angeles,CA,
USA.
Bischof, B., Glück, T., and Kugi, A. (2016). Combined
path following and compliance control for fully actuated
rigid body systems in 3-d space. IEEE Transactions on
Control Systems Technology. doi:10.1109/TCST.2016.
2630599.

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