Dietrich, Alexander und Ott, Christian und Stramigioli, S. (2015) Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks. IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2015.2512937. ISSN 2377-3766.
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Offizielle URL: http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=7368097&abstractAccess=no&userType=inst
Kurzfassung
A manipulator with kinematic redundancy w.r.t. a main task enables to perform an additional, subordinate task in its null space. The classical hierarchy-based approach is to apply dynamically consistent null space projections such that this lower-priority task does not disturb the main task. The major problem is that the control task hierarchy is established at the expense of the passivity of the system, which causes problems in terms of stability, robustness, and safety. Here, we extend this classical approach and passivate the closed-loop system by means of an energy tank, which is filled by the dissipated power of the active damping on both hierarchy levels. We validate the method in simulations and experiments on a torque-controlled manipulator. The concept is predestined for physical humanrobot interaction and safety-relevant applications, where passivity must be guaranteed.
elib-URL des Eintrags: | https://elib.dlr.de/101513/ | ||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||
Titel: | Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks | ||||||||||||||||
Autoren: |
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Datum: | 29 Dezember 2015 | ||||||||||||||||
Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
DOI: | 10.1109/LRA.2015.2512937 | ||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Robotics, Control Theory, Passivity, Proof of Stability | ||||||||||||||||
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: | 13 Jan 2016 11:27 | ||||||||||||||||
Letzte Änderung: | 28 Mär 2023 23:45 |
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