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Reactionless Control for Two Manipulators Mounted on a Cable-Suspended Platform

Lampariello, Roberto and Heindl, Johann and Koeppe, Ralf and Hirzinger, Gerhard (2006) Reactionless Control for Two Manipulators Mounted on a Cable-Suspended Platform. In: Proceedings, pp. 91-97. IEEE/IROS International Conference on Intelligent Robots and Systems. RSJ, 2006-10-09 - 2006-10-15, Beijing, China.

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Abstract

The dynamics and control of a cable-suspended, two-arm robotic system are developed for an entertainment application. One manipulator arm is controlled to fulfil a user defined task. The second arm is then controlled to compensate for the disturbances on the cable-suspended platform arising from the motion of the first. Model-based feed forward control, stemming from the momentum conservation equations of a free-floating robot, is developed for the motion compensation problem. Furthermore, due to model uncertainty, sensor-based feedback control is introduced, to account for undesired oscillatory motions of the system. The latter control problem reduces to the dissipation of the oscillatory energy of the system, by means of adequate robot control. Both control methods are implemented and tested on an experimental set-up.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Reactionless Control for Two Manipulators Mounted on a Cable-Suspended Platform
Authors:
AuthorsInstitution or Email of Authors
Lampariello, RobertoUNSPECIFIED
Heindl, JohannUNSPECIFIED
Koeppe, RalfUNSPECIFIED
Hirzinger, GerhardUNSPECIFIED
Date:9 October 2006
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 91-97
Publisher:IEEE/IROS International Conference on Intelligent Robots and Systems
Status:Published
Keywords:Reactionless Control, Manipulators
Event Title:RSJ
Event Location:Beijing, China
Event Type:international Conference
Event Dates:2006-10-09 - 2006-10-15
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Vorhaben On-Orbit Servicing (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:27 Feb 2007
Last Modified:12 Dec 2013 20:21

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