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

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.

Full text not available from this repository.

Abstract

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
Authors:
AuthorsInstitution or Email of Authors
Ott, Christianchristian.ott@dlr.de
Artigas, Jordijordi.artigas@dlr.de
Preusche, Carstencarsten.preusche@dlr.de
Date:2011
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Page Range:pp. 665-671
Status:Published
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 (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: Christian Ott
Deposited On:10 Jan 2012 09:12
Last Modified:10 Jan 2012 09:12

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.