Albu-Schäffer, Alin Olimpiu und Fischer, M. und Schreiber, G. und Schoeppe, F. und Hirzinger, Gerhard (2004) Soft Robotics: What Cartesian Stiffness can we obtain with Passively Compliant, Uncoupled Joints? In: IEEE International Conference on Intelligent Robots and Systems. IROS, International Conference on Intelligent Robots and Systems, 2004-09-28 - 2004-10-02, Sendai, Japan. doi: 10.1109/IROS.2004.1389925.
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Kurzfassung
In the field of service robotics, whole arm contact with an unstructured environment or human beings becomes a major issue. Therefore soft robots, which mean robots with passively (or mechanically) compliant joints, become more and more important. In this work we analyze what Cartesian stiffness at the tool center point one can achieve with a passively compliant, redundant robot with variable joint stiffness. We restrict this work to the special case of uncoupled joint stiffness only, as coupling of joint stiffness seems to be mechanically difficult to realize. Finally we discuss a Cartesian controller, which incorporates the compliance of the joints and ensures the correct stiffness behavior also for high displacements from the desired position.
elib-URL des Eintrags: | https://elib.dlr.de/111581/ | ||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||
Titel: | Soft Robotics: What Cartesian Stiffness can we obtain with Passively Compliant, Uncoupled Joints? | ||||||||||||||||||||||||
Autoren: |
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Datum: | 28 September 2004 | ||||||||||||||||||||||||
Erschienen in: | IEEE International Conference on Intelligent Robots and Systems | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||
DOI: | 10.1109/IROS.2004.1389925 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | Robot sensing systems, Robot kinematics, Mechanical variables control, Humans, Mechatronics, Displacement control, Force sensors, Torque control, Actuators, Lightweight structures | ||||||||||||||||||||||||
Veranstaltungstitel: | IROS, International Conference on Intelligent Robots and Systems | ||||||||||||||||||||||||
Veranstaltungsort: | Sendai, Japan | ||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
Veranstaltungsbeginn: | 28 September 2004 | ||||||||||||||||||||||||
Veranstaltungsende: | 2 Oktober 2004 | ||||||||||||||||||||||||
Veranstalter : | IEEE/RSJ | ||||||||||||||||||||||||
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: | 19 Mai 2017 15:01 | ||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:16 |
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