Petit, Florian und Daasch, Andreas und Albu-Schäffer, Alin (2015) Backstepping Control of Variable Stiffness Robots. IEEE Transactions on Control Systems Technology, 23 (6), Seiten 2195-2202. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/tcst.2015.2404894. ISSN 1063-6536.
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Offizielle URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7090964
Kurzfassung
Robots with elastic joints arouse an increasing interest in the robotics community. Especially, variable stiffness robots promise to be beneficial regarding robustness and task adaptability. However, the control of variable stiffness multijoint robots is challenging due to their highly nonlinear behavior. Here, we present a backstepping approach for tracking control of multijoint variable stiffness robots. To cope with the problem of noisy-state measurements and the need for higher order state derivatives, command filters are used. A stability proof of the complete control approach including filtering is given. Finally, the simulations and measurements on a variable stiffness joint and a multijoint variable stiffness robot validate the approach.
elib-URL des Eintrags: | https://elib.dlr.de/101988/ | ||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||
Titel: | Backstepping Control of Variable Stiffness Robots | ||||||||||||||||
Autoren: |
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Datum: | 21 November 2015 | ||||||||||||||||
Erschienen in: | IEEE Transactions on Control Systems Technology | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
Band: | 23 | ||||||||||||||||
DOI: | 10.1109/tcst.2015.2404894 | ||||||||||||||||
Seitenbereich: | Seiten 2195-2202 | ||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||
ISSN: | 1063-6536 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Compliant robotic joints, soft robotics, variable stiffness actuation | ||||||||||||||||
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 - On-Orbit Servicing [SY] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
Hinterlegt von: | Beinhofer, Gabriele | ||||||||||||||||
Hinterlegt am: | 11 Jan 2016 18:59 | ||||||||||||||||
Letzte Änderung: | 28 Nov 2023 08:47 |
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