Bussmann, Kristin und Dietrich, Alexander und Ott, Christian (2018) Whole-Body Impedance Control for a Planetary Rover with Robotic Arm: Theory, Control Design, and Experimental Validation. In: 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Seiten 910-917. IEEE. 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018-05-21 - 2018-05-25, Brisbane, Australien. doi: 10.1109/ICRA.2018.8460533. ISBN 978-153863081-5. ISSN 1050-4729.
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Offizielle URL: https://ieeexplore.ieee.org/document/8460533
Kurzfassung
Future planetary rovers will gain the ability to manipulate their environment in addition to the maneuverability of current systems. For dedicated contact interaction, Cartesian impedance control is a well-established approach from numerous terrestrial applications. In this paper we will present a whole-body Cartesian impedance controller for a planetary rover equipped with a robotic arm. In contrast to classical terrestrial whole-body controllers, the issue of proper wheel force distribution will be addressed within the control framework. A global optimization solves this redundancy in the over-actuation of the mobile base while additionally handling the kinematic redundancy in the serial kinematic sub-chain of the robot. The approach is experimentally validated on the DLR Lightweight Rover Unit. It can be used for versatile manipulation in rough terrain such as encountered in planetary exploration or terrestrial search-and-rescue scenarios.
elib-URL des Eintrags: | https://elib.dlr.de/120315/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Poster) | ||||||||||||||||
Titel: | Whole-Body Impedance Control for a Planetary Rover with Robotic Arm: Theory, Control Design, and Experimental Validation | ||||||||||||||||
Autoren: |
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Datum: | 2018 | ||||||||||||||||
Erschienen in: | 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
DOI: | 10.1109/ICRA.2018.8460533 | ||||||||||||||||
Seitenbereich: | Seiten 910-917 | ||||||||||||||||
Verlag: | IEEE | ||||||||||||||||
ISSN: | 1050-4729 | ||||||||||||||||
ISBN: | 978-153863081-5 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Space Robotics and Automation, Mobile Manipulation, Compliance and Impedance Control | ||||||||||||||||
Veranstaltungstitel: | 2018 IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||
Veranstaltungsort: | Brisbane, Australien | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 21 Mai 2018 | ||||||||||||||||
Veranstaltungsende: | 25 Mai 2018 | ||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||
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 - Terrestrische Assistenz-Robotik (alt) | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||
Hinterlegt von: | Lakatos, Kristin | ||||||||||||||||
Hinterlegt am: | 26 Nov 2018 14:00 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:24 |
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