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Feedback linearization and simultaneous stiffness-position control of robots with antagonistic actuated joints.

Palli, G. und Melchiorri, C. und Wimböck, Thomas und Grebenstein, Markus und Hirzinger, Gerd (2007) Feedback linearization and simultaneous stiffness-position control of robots with antagonistic actuated joints. In: Proceedings of ICRA, Seiten 4367-4372. IEEE. International Conference on Robotics and Automation, 2007-04-10 – 2007-04-14, Roma, Italy.

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Kurzfassung

In this paper, the dynamic model of a robot with antagonistic actuated joints is presented, and the problem of full linearization via static state feedback is analyzed. The use of transmission elements with nonlinear relation between the displacement and the actuated force allows to control both the position and the stiffness of each joint. The main advantage of this actuation modality is that the achieved stiffness becomes same mechanical characteristic of the system and it is not the result of an immediate control action as in the classical impedance control scheme. Different examples of implementation of this kind of devices are known in literature, even if limited to one single joint and the application of antagonistic actuated kinematic chains in the field of robotic hand design is under investigation. After a brief review of the dependence of the properties of antagonistic actuation on the transmission elements characteristics, a scheme for simultaneous stiffness-position control of the linearized system is presented. Finally, simulation results of a two-link antagonistic actuated arm are reported and discussed.

Dokumentart:Konferenzbeitrag (Vortrag, Paper)
Titel:Feedback linearization and simultaneous stiffness-position control of robots with antagonistic actuated joints.
Autoren:
AutorenInstitution oder E-Mail-Adresse der Autoren
Palli, G.DEIS, Dept. of Electronics, Computer Science and Systems University of Bologna, Italy
Melchiorri, C.DEIS, Dept. of Electronics, Computer Science and Systems University of Bologna, Italy
Wimböck, ThomasNICHT SPEZIFIZIERT
Grebenstein, MarkusNICHT SPEZIFIZIERT
Hirzinger, GerdNICHT SPEZIFIZIERT
Datum:10 April 2007
Erschienen in:Proceedings of ICRA
Referierte Publikation:Ja
In ISI Web of Science:Nein
Seitenbereich:Seiten 4367-4372
Verlag:IEEE
Status:veröffentlicht
Stichwörter:Antagonistic actuation, variable stiffness mechanisms, feedback linearization, nonlinear systems
Veranstaltungstitel:International Conference on Robotics and Automation
Veranstaltungsort:Roma, Italy
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:2007-04-10 – 2007-04-14
HGF - Forschungsbereich:Verkehr und Weltraum (alt)
HGF - Programm:Weltraum (alt)
HGF - Programmthema:W SY - Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Weltraum
DLR - Forschungsgebiet:W SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):W - Vorhaben DLR-Leichtbau-Roboter III (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik > Robotersysteme
Hinterlegt von: Gabriele Beinhofer
Hinterlegt am:17 Jan 2008
Letzte Änderung:12 Dez 2013 20:29

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