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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

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

Abstract

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
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Dietrich, Alexanderalexander.dietrich (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Stramigioli, S.University of Twente, NetherlandsUNSPECIFIED
Date:29 December 2015
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1109/LRA.2015.2512937
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2377-3766
Status:Published
Keywords:Robotics, Control Theory, Passivity, Proof of Stability
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
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:17 Nov 2018 05:02

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