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Passivity based on Energy Tank for Cartesian Impedance Control of Redundant Free-Flying Space Robots with Elastic Joints

Le-Tien, Luc (2017) Passivity based on Energy Tank for Cartesian Impedance Control of Redundant Free-Flying Space Robots with Elastic Joints. Vietnam International Conference and Exhibition on Control and Automation, 01.-02. Dez. 2017, Ho Chi Minh.

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Abstract

This paper presents a Cartesian impedance control for free-flying space robots with elastic joints. In order to archive high dynamic behavior of the end-effector like a mass-spring-damper system, the control stiffness and control damping are computed online depending on the Cartesian robot mass matrix and thus time-varying. Therefore, in order to ensure passivity of the system the control law is extended using the concept of energy tank so that the system can achieve maximal performance and simultaneously shows stable behavior both in free motion and in contact with its environment. The proposed control method is very efficient and practicable. Furthermore, it is very robust with respect to dynamic parameter uncertainties, coupling dynamics, and can simultaneously provide good results in term of the dynamic behavior and position accuracy. Simulation results validate practical efficiency of the controller.

Item URL in elib:https://elib.dlr.de/117227/
Document Type:Conference or Workshop Item (Speech)
Title:Passivity based on Energy Tank for Cartesian Impedance Control of Redundant Free-Flying Space Robots with Elastic Joints
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Le-Tien, LucLuc.Le-Tien (at) dlr.deUNSPECIFIED
Date:1 December 2017
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Cartesian impedance control, passivity based-control, flexible joint robots, free-flying robots, space robots.
Event Title:Vietnam International Conference and Exhibition on Control and Automation
Event Location:Ho Chi Minh
Event Type:international Conference
Event Dates:01.-02. Dez. 2017
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Robotdynamik & Simulation
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Le-Tien, Dr. Luc
Deposited On:18 Dec 2017 13:55
Last Modified:23 Feb 2019 00:22

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