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Immersion and Invariance Control for an Antagonistic Joint with Nonlinear Mechanical Stiffness

Wimböck, Thomas and Ott, Christian and Hirzinger, Gerd (2010) Immersion and Invariance Control for an Antagonistic Joint with Nonlinear Mechanical Stiffness. 49th IEEE Conference on Decision and Control, Atlanta, USA.

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Abstract

Tendon controlled robots with nonlinear mechanical tendon stiffness are becoming more and more popular. With the appropriate actuation, the joint position and the stiffness between motor and link side can be prescribed at the same time. In this paper, the modeling of tendon-driven elastic systems with nonlinear couplings is recapitulated. Based on the Immersion and Invariance (I&I) framework a control law is developed that takes trajectories of the desired joint position and the pretension as input. The contribution of this paper are the application of the I&I framework to tendon-controlled systems with variable stiffness which requires to consider the internal degrees of freedom to realize the pretension, respectively the mechanical joint stiffness. But also, and even more importantly, the handling of nonlinear transmission elements between the motor and the joint link is included. The performance and sensitivity is analyzed by simulating an antagonistically driven robot joint.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Immersion and Invariance Control for an Antagonistic Joint with Nonlinear Mechanical Stiffness
Authors:
AuthorsInstitution or Email of Authors
Wimböck, ThomasRM
Ott, ChristianRM
Hirzinger, GerdRM
Date:December 2010
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:Variable Stiffness Control
Event Title:49th IEEE Conference on Decision and Control
Event Location:Atlanta, USA
Event Type:international Conference
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 - Leistungszentrum Robotik - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Thomas Wimböck
Deposited On:11 Jan 2011 09:53
Last Modified:12 Dec 2013 21:12

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