Elastic elements in series elastic actuator (SEA) will cause residual vibration in position control. Incorporating link-side damping injection and friction compensation, we propose an improved interconnection and damping assignment passivity-based control (IDA-PBC+) method to suppress residual vibration. Damping on the motor side and link side can be adjusted simultaneously. In addition, the desired motor-side trajectory planning and online gravity compensation are also introduced to improve control performance and steady-state accuracy. The effectiveness of the proposed method in suppressing residual vibration is experimentally verified with a two-degree-of-freedom SEA device.
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