Petit, Florian and Albu-Schäffer, Alin (2011) Cartesian Impedance Control For A Variable Stiffness Robot Arm. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS 11, San Francisco, CA, USA.
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The variable stiffness actuation (VSA) technology has been recently developed and applied in robotic arms. Mechanism robustness, high peak torque and velocity, and stiffness adjustment flexibility are key benefits of VSA joints. However, the achievable Cartesian stiffness by uncoupled VSA joints is limited. Therefore we suggest and analyze the use of an active impedance controller in combination with the passive joints to further increase the stiffness range. An algorithm to optimize the passive and active Cartesian stiffness is proposed to achieve a desired Cartesian stiffness as precise as possible. The algorithm was implemented and tested on the VSA robot DLR Hand Arm System. Experimental results and measurements of the active/passive impedance algorithm are shown.
|Document Type:||Conference or Workshop Item (Paper)|
|Title:||Cartesian Impedance Control For A Variable Stiffness Robot Arm|
|Journal or Publication Title:||IEEE/RSJ International Conference on Intelligent Robots and Systems|
|Keywords:||Variable Stiffness Actuation, Cartesian Impedance Control, Multi Degree of Freedom|
|Event Title:||IROS 11|
|Event Location:||San Francisco, CA, 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 - RMC - Mechatronik und Telerobotik (old)|
|Institutes and Institutions:||Institute of Robotics and Mechatronics > Robotic Systems|
|Deposited By:||Florian Petit|
|Deposited On:||10 Jan 2012 08:49|
|Last Modified:||10 Jan 2012 08:49|
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