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New Aspects of Input Shaping Control to Damp Oscillations of a Compliant Force Sensor

Kamel, Amine and Lange, Friedrich and Hirzinger, Gerd (2008) New Aspects of Input Shaping Control to Damp Oscillations of a Compliant Force Sensor. In: Proceedings, pp. 2629-2635. IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA (USA).

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Abstract

Compliance in robot mounted force/torque sensors is useful for soft mating of parts. However it generates nearly undamped oscillations when moving the end-effector in free space. In this paper, input shaping control is investigated to damp such unwanted flexible modes. We present a new design technique that creates long impulse sequences to adapt input shaping to systems with long sampling period and to compensate the resulting time delay. This makes the method feasible for industrial robots. In addition to the conventional input shaping which causes oscillations to stop only after applying the last impulse, we also minimize the quadratic control error until this time step is reached.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:New Aspects of Input Shaping Control to Damp Oscillations of a Compliant Force Sensor
Authors:
AuthorsInstitution or Email of Authors
Kamel, AmineUNSPECIFIED
Lange, FriedrichUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:2008
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 2629-2635
Status:Published
Keywords:-
Event Title:IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Pasadena, CA (USA)
Event Type:international Conference
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 - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Monika Klauer
Deposited On:24 Oct 2008
Last Modified:12 Dec 2013 20:33

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