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

Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks

Dietrich, Alexander and Ott, Christian and 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.

[img] PDF (This is the draft of the published "online first" version) - Only accessible within DLR

Official URL: http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=7368097&abstractAccess=no&userType=inst


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.

Item URL in elib:https://elib.dlr.de/101513/
Document Type:Article
Title:Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Dietrich, AlexanderUNSPECIFIEDhttps://orcid.org/0000-0003-3463-5074UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Stramigioli, S.University of Twente, NetherlandsUNSPECIFIEDUNSPECIFIED
Date:29 December 2015
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Robotics, Control Theory, Passivity, Proof of Stability
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Terrestrial Assistance Robotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Dietrich, Dr.-Ing. Alexander
Deposited On:13 Jan 2016 11:27
Last Modified:28 Mar 2023 23:45

Repository Staff Only: item control page

Help & Contact
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.