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An Overview of Null Space Projections for Redundant, Torque Controlled Robots

Dietrich, Alexander und Ott, Christian und Albu-Schäffer, Alin (2015) An Overview of Null Space Projections for Redundant, Torque Controlled Robots. International Journal of Robotics Research, 34 (11), Seiten 1385-1400. SAGE Publications. doi: 10.1177/0278364914566516. ISSN 0278-3649.

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Offizielle URL: http://ijr.sagepub.com/content/34/11/1385.abstract

Kurzfassung

One step on the way to approach human performance in robotics is to provide joint torque sensing and control for better interaction capabilities with the environment, and a large number of actuated degrees of freedom (DOF) for improved versatility. However, the increasing complexity also raises the question of how to resolve the kinematic redundancy which is a direct consequence of the large number of DOF. Here we give an overview of the most practical and frequently used torque control solutions based on null space projections. Two fundamental structures of task hierarchies are reviewed and compared, namely the successive and the augmented method. Then the projector itself is investigated in terms of its consistency. We analyze static, dynamic, and the new concept of stiffness consistency. In the latter case, stiffness information is used in the pseudoinversion instead of the inertia matrix. In terms of dynamic consistency, we generalize the weighting matrix from the classical operational space approach and show that an infinite number of weighting matrices exist to obtain dynamic consistency. In this context we also analyze another dynamically consistent null space projector with slightly different structure and properties. The redundancy resolutions are finally compared in several simulations and experiments. A thorough discussion of the theoretical and empirical results completes this survey.

elib-URL des Eintrags:https://elib.dlr.de/101443/
Dokumentart:Zeitschriftenbeitrag
Titel:An Overview of Null Space Projections for Redundant, Torque Controlled Robots
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Dietrich, AlexanderAlexander.Dietrich (at) dlr.dehttps://orcid.org/0000-0003-3463-5074NICHT SPEZIFIZIERT
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493NICHT SPEZIFIZIERT
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.dehttps://orcid.org/0000-0001-5343-9074NICHT SPEZIFIZIERT
Datum:September 2015
Erschienen in:International Journal of Robotics Research
Referierte Publikation:Ja
Open Access:Nein
Gold Open Access:Nein
In SCOPUS:Ja
In ISI Web of Science:Ja
Band:34
DOI:10.1177/0278364914566516
Seitenbereich:Seiten 1385-1400
Verlag:SAGE Publications
ISSN:0278-3649
Status:veröffentlicht
Stichwörter:Robotics, Redundancy Resolution, Torque Control, Null Space Projection, Redundant Robots
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):R - Terrestrische Assistenz-Robotik (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme
Hinterlegt von: Dietrich, Dr.-Ing. Alexander
Hinterlegt am:04 Jan 2016 11:11
Letzte Änderung:03 Nov 2023 08:14

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