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Dietrich, Alexander und Wu, Xuwei und Bussmann, Kristin und Ott, Christian und Albu-Schäffer, Alin Olimpiu und Stramigioli, S. (2016) Passive Hierarchical Impedance Control via Energy Tanks. IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2016.2645504. ISSN 2377-3766.
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Offizielle URL: http://ieeexplore.ieee.org/document/7801022
Kurzfassung
Modern robotic systems with a large number of actuated degrees of freedom can be utilized to perform several tasks at the same time while following a given order of priority. The most frequently used method is to apply null space projections to realize such a strict hierarchy, where lower-priority tasks are executed as long as they do not interfere with any higher-priority objectives. However, introducing null space projectors inevitably destroys the beneficial and safety-relevant feature of passivity. Here, two controllers are proposed to restore the passivity: one with local energy tanks on each hierarchy level and one with a global tank for the entire system. The formal proofs of passivity show that no energy is generated by these controllers. Once the tanks are empty, passivity is still guaranteed at the cost of some control performance. Simulations and experiments on a torque-controlled robot validate the approaches and predestine them for the usage in safety-relevant applications.
| elib-URL des Eintrags: | https://elib.dlr.de/110052/ | ||||||||||||||||||||||||||||
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| Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||||||
| Titel: | Passive Hierarchical Impedance Control via Energy Tanks | ||||||||||||||||||||||||||||
| Autoren: |
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| Datum: | 28 Dezember 2016 | ||||||||||||||||||||||||||||
| Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||||||||||
| Open Access: | Nein | ||||||||||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||||||||||
| In SCOPUS: | Ja | ||||||||||||||||||||||||||||
| In ISI Web of Science: | Ja | ||||||||||||||||||||||||||||
| DOI: | 10.1109/LRA.2016.2645504 | ||||||||||||||||||||||||||||
| Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||||||
| ISSN: | 2377-3766 | ||||||||||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||||||||||
| Stichwörter: | Compliance and Impedance Control, Redundant Robots, Force Control, Motion Control of Manipulators | ||||||||||||||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||
| HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||
| DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Terrestrische Assistenz-Robotik (alt) | ||||||||||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||||||||||
| Hinterlegt von: | Dietrich, Dr.-Ing. Alexander | ||||||||||||||||||||||||||||
| Hinterlegt am: | 23 Dez 2016 09:58 | ||||||||||||||||||||||||||||
| Letzte Änderung: | 27 Nov 2023 12:47 |
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- Passive Hierarchical Impedance Control via Energy Tanks. (deposited 23 Dez 2016 09:58) [Gegenwärtig angezeigt]
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