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Cartesian Impedance Control for a Variable Stiffness Robot Arm

Petit, Florian and Albu-Schäffer, Alin Olimpiu (2011) Cartesian Impedance Control for a Variable Stiffness Robot Arm. In: IEEE International Conference on Intelligent Robots and Systems. IROS, International Conference on Intelligent Robots and Systems, 2011-09-25 - 2011-09-30, San Francisco, CA, USA. doi: 10.1109/IROS.2011.6094736.

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The variable stiffness actuation (VSA) technology has been recently developed and applied in robotic arms. Mechanism robustness, high peak torque and velocity, and stiffness adjustment flexibility are key benefits of VSA joints. However, the achievable Cartesian stiffness by uncoupled VSA joints is limited. Therefore we suggest and analyze the use of an active impedance controller in combination with the passive joints to further increase the stiffness range. An algorithm to optimize the passive and active Cartesian stiffness is proposed to achieve a desired Cartesian stiffness as precise as possible. The algorithm was implemented and tested on the VSA robot DLR Hand Arm System. Experimental results and measurements of the active/passive impedance algorithm are shown.

Item URL in elib:https://elib.dlr.de/111579/
Document Type:Conference or Workshop Item (Other)
Title:Cartesian Impedance Control for a Variable Stiffness Robot Arm
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115733
Date:25 September 2011
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:Joints, Robots, Impedance, Optimization, Jacobian matrices, Vectors, Matrix decomposition
Event Title:IROS, International Conference on Intelligent Robots and Systems
Event Location:San Francisco, CA, USA
Event Type:international Conference
Event Start Date:25 September 2011
Event End Date:30 September 2011
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 - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Beinhofer, Gabriele
Deposited On:19 May 2017 14:59
Last Modified:24 Apr 2024 20:16

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