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Passive Hierarchical Impedance Control via Energy Tanks

Dietrich, Alexander and Wu, Xuwei and Bussmann, Kristin and Ott, Christian and Albu-Schäffer, Alin Olimpiu and Stramigioli, S. (2016) Passive Hierarchical Impedance Control via Energy Tanks. IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2016.2645504. ISSN 2377-3766.

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Official URL: http://ieeexplore.ieee.org/document/7801022


Modern robotic systems with a large number of actuated degrees of freedom can be utilized to perform several tasks at the same time while following a given order of priority. The most frequently used method is to apply null space projections to realize such a strict hierarchy, where lower-priority tasks are executed as long as they do not interfere with any higher-priority objectives. However, introducing null space projectors inevitably destroys the beneficial and safety-relevant feature of passivity. Here, two controllers are proposed to restore the passivity: one with local energy tanks on each hierarchy level and one with a global tank for the entire system. The formal proofs of passivity show that no energy is generated by these controllers. Once the tanks are empty, passivity is still guaranteed at the cost of some control performance. Simulations and experiments on a torque-controlled robot validate the approaches and predestine them for the usage in safety-relevant applications.

Item URL in elib:https://elib.dlr.de/110052/
Document Type:Article
Title:Passive Hierarchical Impedance Control via Energy Tanks
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Dietrich, AlexanderUNSPECIFIEDhttps://orcid.org/0000-0003-3463-5074UNSPECIFIED
Wu, XuweiUNSPECIFIEDhttps://orcid.org/0000-0003-2616-9149UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115731
Stramigioli, S.university of twente, netherlandsUNSPECIFIEDUNSPECIFIED
Date:28 December 2016
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Compliance and Impedance Control, Redundant Robots, Force Control, Motion Control of Manipulators
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:23 Dec 2016 09:58
Last Modified:27 Nov 2023 12:47

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