elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Contact | Deutsch
Fontsize: [-] Text [+]

Impedence Control for Variable Stiffness Mechanisms with Nonlinear Joint Coupling

Wimböck, Thomas and Ott, Christian and Albu-Schäffer, Alin and Kugi, Andreas and Hirzinger, Gerd (2008) Impedence Control for Variable Stiffness Mechanisms with Nonlinear Joint Coupling. In: Proceedings, pp. 3796-3803. International Conference on Intelligent Robots and Systems, IROS, 2008-09-22 - 2008-09-26, Nice (Frankreich).

[img]
Preview
PDF - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
438kB

Abstract

The current discussion on physical human robot interaction and the related safety aspects, but also the interest of neuro-scientists to validate their hypotheses on human motor skills with bio-mimetic robots, led to a recent revival of tendondriven robots. In this paper, the modeling of tendon-driven elastic systems with nonlinear couplings is recapitulated. A control law is developed that takes the desired joint position and stiffness as input. Therefore, desired motor positions are determined that are commanded to an impedance controller. We give a physical interpretation of the controller. More importantly, a static decoupling of the joint motion and the stiffness variation is given. The combination of active (controller) and passive (mechanical) stiffness is investigated. The controller stiffness is designed according to the desired overall stiffness. A damping design of the impedance controller is included in these considerations. The controller performance is evaluated in simulation.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Impedence Control for Variable Stiffness Mechanisms with Nonlinear Joint Coupling
Authors:
AuthorsInstitution or Email of Authors
Wimböck, ThomasUNSPECIFIED
Ott, ChristianUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIED
Kugi, AndreasUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:2008
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 3796-3803
Status:Published
Keywords:-
Event Title:International Conference on Intelligent Robots and Systems, IROS
Event Location:Nice (Frankreich)
Event Type:international Conference
Event Dates:2008-09-22 - 2008-09-26
Organizer:IEEE/RSJ
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: Monika Klauer
Deposited On:24 Oct 2008
Last Modified:12 Dec 2013 20:33

Repository Staff Only: item control page

Browse
Search
Help & Contact
Informationen
electronic library is running on EPrints 3.3.12
Copyright © 2008-2012 German Aerospace Center (DLR). All rights reserved.