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A Method to Identify the Stiffness Characteristics of an Elastic Continuum Mechanism

Deutschmann, Bastian and Liu, Tong and Dietrich, Alexander and Ott, Christian and Lee, Dongheui (2018) A Method to Identify the Stiffness Characteristics of an Elastic Continuum Mechanism. IEEE Robotics and Automation Letters, 3 (3), pp. 1450-1457. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/LRA.2018.2800098 ISSN 2377-3766

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Official URL: https://ieeexplore.ieee.org/document/8276234/


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.

Item URL in elib:https://elib.dlr.de/120757/
Document Type:Article
Title:A Method to Identify the Stiffness Characteristics of an Elastic Continuum Mechanism
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Deutschmann, BastianBastian.Deutschmann (at) dlr.deUNSPECIFIED
Liu, TongTong.Liu (at) dlr.deUNSPECIFIED
Dietrich, AlexanderAlexander.Dietrich (at) dlr.dehttps://orcid.org/0000-0003-3463-5074
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Lee, DongheuiDongheui.Lee (at) dlr.dehttps://orcid.org/0000-0003-1897-7664
Date:July 2018
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/LRA.2018.2800098
Page Range:pp. 1450-1457
EditorsEmailEditor's ORCID iD
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Model learning for control, compliant joint/mechanism, soft material robotics
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: Deutschmann, Bastian
Deposited On:08 Oct 2018 13:58
Last Modified:05 Feb 2020 14:04

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