Deutschmann, Bastian und Dietrich, Alexander und Ott, Christian (2017) Position Control of an Underactuated Continuum Mechanism using a Reduced Nonlinear Model. In: IEEE Conference on Decision and Control. IEEE. 56th Annual Conference on Decision and Control (CDC), 2017-12-12 - 2017-12-15, Melbourne, VIC, Australia. doi: 10.1109/CDC.2017.8264433. ISBN 978-1-5090-2873-3.
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Offizielle URL: https://ieeexplore.ieee.org/abstract/document/8264433/
Kurzfassung
The paper treats the model-based control of a nonlinear system composed of a continuum mechanism currently used as a neck of a humanoid robot. The structural flexibility of the continuum mechanism allows for compliant Cartesian motion of the link side, i.e. the head of the humanoid. The position control approach proposed in this work uses a reduced nonlinear model of the system. This reduced model consists of the rigid body dynamics and an experimentally obtained approximation of the nonlinear Cartesian spring characteristics of the continuum with multivariate polynomials. Two model-based controllers are set up, namely a partial feedback linearization and a passivity-based approach. As the system is underactuated, the six generalized coordinates are split up into four task and two remaining coordinates. The two proposed controllers are designed to regulate the task coordinates to desired positions. The proposed control approaches are tested and compared in simulation and experiments on the real system.
elib-URL des Eintrags: | https://elib.dlr.de/120758/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | Position Control of an Underactuated Continuum Mechanism using a Reduced Nonlinear Model | ||||||||||||||||
Autoren: |
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Datum: | Dezember 2017 | ||||||||||||||||
Erschienen in: | IEEE Conference on Decision and Control | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
DOI: | 10.1109/CDC.2017.8264433 | ||||||||||||||||
Verlag: | IEEE | ||||||||||||||||
Name der Reihe: | 2017 IEEE 56th Annual Conference on Decision and Control (CDC) | ||||||||||||||||
ISBN: | 978-1-5090-2873-3 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Tendons, Springs, Mathematical model, Robots, Computational modeling, Force | ||||||||||||||||
Veranstaltungstitel: | 56th Annual Conference on Decision and Control (CDC) | ||||||||||||||||
Veranstaltungsort: | Melbourne, VIC, Australia | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 12 Dezember 2017 | ||||||||||||||||
Veranstaltungsende: | 15 Dezember 2017 | ||||||||||||||||
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: | Deutschmann, Dr. -Ing. Bastian | ||||||||||||||||
Hinterlegt am: | 16 Aug 2018 15:08 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:24 |
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