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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)
Title:A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure
Authors:
AuthorsInstitution or Email of Authors
Ott, ChristianUNSPECIFIED
Albu-Schaeffer, AlinUNSPECIFIED
Hirzinger, GerhardUNSPECIFIED
Date:9 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 (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 - 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:12 Dec 2013 20:21

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