Subspace-oriented Energy Distribution for the Time Domain Passivity Approach
Ott, Christian and Artigas, Jordi and Preusche, Carsten (2011) Subspace-oriented Energy Distribution for the Time Domain Passivity Approach. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 665-671. IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, USA.
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The Time Domain Passivity Control Approach (TDPA) is a powerful tool to guarantee passive interaction between a robot and its environment. Rather than establishing fixed control parameters to keep the system stable in any possible environment, the TDPA observes the energy flow due to the interaction and applies a dissipative term in the case the interaction becomes active. In a robot manipulator the rationale behind the Passivity Controller requires a criterion on how to distribute the energy to be dissipated among the multiple joints and must be adjusted according to the general control goal of the application. This paper presents a method for distributing the dissipation between decoupled subspaces of a redundant manipulator, prioritizing dissipation in the null-space. The method allows to preserve passivity while avoiding disturbance of the general control goal defined in the task-space. Thus the general control goal can, to some extent, be as well decoupled from passivity considerations and thus a less conservative controller can be achieved. The approach is sustained with a numerical simulation.
|Document Type:||Conference or Workshop Item (Speech, Paper)|
|Title:||Subspace-oriented Energy Distribution for the Time Domain Passivity Approach|
|Journal or Publication Title:||IEEE/RSJ International Conference on Intelligent Robots and Systems|
|Page Range:||pp. 665-671|
|Keywords:||Time Domain Passivity Approach, Nullspace Control, Energy Control, Passivity|
|Event Title:||IEEE/RSJ International Conference on Intelligent Robots and Systems|
|Event Location:||San Francisco, USA|
|Event Type:||international Conference|
|HGF - Research field:||Aeronautics, Space and Transport|
|HGF - Program:||Space|
|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)|
|Institutes and Institutions:||Institute of Robotics and Mechatronics > Robotic Systems|
|Deposited By:||Christian Ott|
|Deposited On:||10 Jan 2012 09:12|
|Last Modified:||10 Jan 2012 09:12|
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