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A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure
Ott, Christian and Albu-Schaeffer, Alin and Hirzinger, Gerhard (2006) A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure. In: Proceedings, pp. 4502-4508. IEEE/IROS International Conference on Intelligent Robots and Systems. RSJ, 2006-10-09 - 2006-10-15, Beijing, China.
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Abstract
In this paper the Cartesian compliance control of a manipulator mounted on a flexible base is considered. The proposed control law aims at achieving a desired stiffness and damping in Cartesian coordinates while taking account of the base flexibility. The controller does not use any measurement of the base motion, however a model of the base stiffness is required. For the closed loop system, asymptotic stability in case of free motion is proven. Furthermore, considering interaction tasks, it is shown that the controlled manipulator system has a useful passivity property.
| Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||
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| Title: | A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure | ||||||||
| Authors: |
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| Date: | 09 October 2006 | ||||||||
| Journal or Publication Title: | Proceedings | ||||||||
| Refereed publication: | Yes | ||||||||
| In ISI Web of Science: | No | ||||||||
| Page Range: | pp. 4502-4508 | ||||||||
| Publisher: | IEEE/IROS International Conference on Intelligent Robots and Systems | ||||||||
| Status: | Published | ||||||||
| Keywords: | Cartesian Compliance Controller, Manipulator | ||||||||
| 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 | ||||||||
| HGF - Program: | Space | ||||||||
| HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | ||||||||
| DLR - Research area: | Space | ||||||||
| DLR - Program: | W SY - Technik für Raumfahrtsysteme | ||||||||
| DLR - Research theme (Project): | W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old) | ||||||||
| Location: | Oberpfaffenhofen | ||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics > Robotic Systems | ||||||||
| Deposited By: | Gabriele Beinhofer | ||||||||
| Deposited On: | 27 Feb 2007 | ||||||||
| Last Modified: | 14 Jan 2010 23:40 |
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