Balachandran, Ribin und Jorda, Mikael und Artigas Esclusa, Jordi und Ryu, J.H. und Khatib, Oussama (2017) Passivity-based Stability in Explicit Force Control of Robots. In: 2017 IEEE International Conference on Robotics and Automation, ICRA 2017. IEEE International Conference on Robotics and Automation ICRA, 2017-05-29 - 2017-06-03, Singapore. doi: 10.1109/ICRA.2017.7989050. ISBN 978-150904633-1. ISSN 1050-4729.
PDF
284kB |
Offizielle URL: https://ieeexplore.ieee.org/document/7989050
Kurzfassung
Direct force control of robots is challenging, particularly since the interaction with the environment can render the robot unstable. This paper presents the results of novel approaches for passivity-based stability for a particular direct force control method, namely explicit force control. A step-by-step procedure to passivate and stabilise the control loop is presented and it explains how Time Domain Passivity Approach, a passivity-based tool widely used in teleoperation and haptics has been extended and applied in explicit force control. The electrical circuit and network-port representations derived in the process allows the analytical evaluation of the system and can be applied in other control architectures as well. The stability methods are presented both qualitatively and quantitatively with simulations and hardware experiments. A discussion about the results obtained and the energy behavior is also provided. Results are promising and suggest that these methods can be used for stable and high-bandwidth force control of robotic manipulators.
elib-URL des Eintrags: | https://elib.dlr.de/112967/ | ||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||
Titel: | Passivity-based Stability in Explicit Force Control of Robots | ||||||||||||||||||||||||
Autoren: |
| ||||||||||||||||||||||||
Datum: | 2 Juni 2017 | ||||||||||||||||||||||||
Erschienen in: | 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||
DOI: | 10.1109/ICRA.2017.7989050 | ||||||||||||||||||||||||
ISSN: | 1050-4729 | ||||||||||||||||||||||||
ISBN: | 978-150904633-1 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | Force control, stability, passivity, Time Domain Passivity Control | ||||||||||||||||||||||||
Veranstaltungstitel: | IEEE International Conference on Robotics and Automation ICRA | ||||||||||||||||||||||||
Veranstaltungsort: | Singapore | ||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
Veranstaltungsbeginn: | 29 Mai 2017 | ||||||||||||||||||||||||
Veranstaltungsende: | 3 Juni 2017 | ||||||||||||||||||||||||
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 - Telerobotik (alt) | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||||||
Hinterlegt von: | Radhakrishna Balachandran, Ribin | ||||||||||||||||||||||||
Hinterlegt am: | 14 Jul 2017 17:48 | ||||||||||||||||||||||||
Letzte Änderung: | 05 Jun 2024 13:50 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags