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Whole-Body Impedance Control for a Planetary Rover with Robotic Arm: Theory, Control Design, and Experimental Validation

Bussmann, Kristin and Dietrich, Alexander and Ott, Christian (2018) Whole-Body Impedance Control for a Planetary Rover with Robotic Arm: Theory, Control Design, and Experimental Validation. In: IEEE International Conference on Robotics and Automation ICRA, pp. 910-917. 2018 IEEE International Conference on Robotics and Automation (ICRA), 21.-25. Mai, Brisbane, Australien. DOI: 10.1109/ICRA.2018.8460533 ISBN 978-1-5386-3080-8 ISSN 2577-087X

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Abstract

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.

Item URL in elib:https://elib.dlr.de/120315/
Document Type:Conference or Workshop Item (Poster)
Title:Whole-Body Impedance Control for a Planetary Rover with Robotic Arm: Theory, Control Design, and Experimental Validation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Bussmann, KristinKristin.Bussmann (at) dlr.dehttps://orcid.org/0000-0003-3881-9639
Dietrich, AlexanderAlexander.Dietrich (at) dlr.dehttps://orcid.org/0000-0003-3463-5074
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:2018
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
DOI :10.1109/ICRA.2018.8460533
Page Range:pp. 910-917
ISSN:2577-087X
ISBN:978-1-5386-3080-8
Status:Published
Keywords:Space Robotics and Automation, Mobile Manipulation, Compliance and Impedance Control
Event Title:2018 IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Brisbane, Australien
Event Type:international Conference
Event Dates:21.-25. Mai
Organizer:IEEE
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 Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Bussmann, Kristin
Deposited On:26 Nov 2018 14:00
Last Modified:31 Jul 2019 20:18

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