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/ | ||||||||||||
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Document Type: | Article | ||||||||||||
Title: | Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks | ||||||||||||
Authors: |
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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: | Yes | ||||||||||||
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: | 14 Dec 2019 04:23 |
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