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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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Abstract
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/ | ||||||||||||
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| Document Type: | Conference or Workshop Item (Other) | ||||||||||||
| Title: | Cartesian Impedance Control for a Variable Stiffness Robot Arm | ||||||||||||
| Authors: |
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| 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 SCOPUS: | Yes | ||||||||||||
| In ISI Web of Science: | No | ||||||||||||
| DOI: | 10.1109/IROS.2011.6094736 | ||||||||||||
| Status: | Published | ||||||||||||
| 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 | ||||||||||||
| Organizer: | IEEE/RSJ | ||||||||||||
| 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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