Deutschmann, Bastian und Liu, Tong und Dietrich, Alexander und Ott, Christian und Lee, Dongheui (2018) A Method to Identify the Nonlinear Stiffness Characteristics of an Elastic Continuum Mechanism. IEEE Robotics and Automation Letters, 3 (3), Seiten 1450-1457. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2018.2800098. ISSN 2377-3766.
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Offizielle URL: https://ieeexplore.ieee.org/document/8276234/
Kurzfassung
The humanoid robot David is equipped with a novel robotic neck based on an elastic continuum mechanism (ECM). To realize a model-based motion control, the six dimensional stiffness characteristics needs to be known. This letter presents an approach to experimentally identify the stiffness characteristic using a robot manipulator to deflect the ECM and measure the Cartesian wrenches and Cartesian poses with external sensors. A three-step process is proposed to establish Cartesian wrench and pose pairs experimentally. The process consists of a simulation step, to select a good model, a second step that extracts effective poses from workspace which are sampled experimentally and the third step, the pose sampling procedure in which the robot drives the ECM to these effective poses. A full cubic polynomial regression model is adopted based on simulation data to fit the stiffness characteristics. To extract the poses to be sampled in the experiments, two different approaches are evaluated and compared to ensure a well-posed identification. The identification process on the hardware is performed by using Cartesian impedance and inverse kinematics control in combination to comply with the physical constraints imposed by the ECM.
elib-URL des Eintrags: | https://elib.dlr.de/120757/ | ||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||
Titel: | A Method to Identify the Nonlinear Stiffness Characteristics of an Elastic Continuum Mechanism | ||||||||||||||||||||||||
Autoren: |
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Datum: | Juli 2018 | ||||||||||||||||||||||||
Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||
Band: | 3 | ||||||||||||||||||||||||
DOI: | 10.1109/LRA.2018.2800098 | ||||||||||||||||||||||||
Seitenbereich: | Seiten 1450-1457 | ||||||||||||||||||||||||
Herausgeber: |
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Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | Model learning for control, compliant joint/mechanism, soft material robotics | ||||||||||||||||||||||||
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 - Vorhaben Robotdynamik & Simulation (alt) | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||||||
Hinterlegt von: | Deutschmann, Dr. -Ing. Bastian | ||||||||||||||||||||||||
Hinterlegt am: | 08 Okt 2018 13:58 | ||||||||||||||||||||||||
Letzte Änderung: | 21 Nov 2023 09:13 |
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