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Position Control of an Underactuated Continuum Mechanism using a Reduced Nonlinear Model

Deutschmann, Bastian and Dietrich, Alexander and 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), 12-15 Dec. 2017, Melbourne, VIC, Australia. DOI: 10.1109/CDC.2017.8264433 ISBN 978-1-5090-2873-3

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Official URL: https://ieeexplore.ieee.org/abstract/document/8264433/


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.

Item URL in elib:https://elib.dlr.de/120758/
Document Type:Conference or Workshop Item (Speech)
Title:Position Control of an Underactuated Continuum Mechanism using a Reduced Nonlinear Model
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Deutschmann, Bastianbastian.deutschmann (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
Date:December 2017
Journal or Publication Title:IEEE Conference on Decision and Control
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/CDC.2017.8264433
Series Name:2017 IEEE 56th Annual Conference on Decision and Control (CDC)
Keywords:Tendons, Springs, Mathematical model, Robots, Computational modeling, Force
Event Title:56th Annual Conference on Decision and Control (CDC)
Event Location:Melbourne, VIC, Australia
Event Type:international Conference
Event Dates:12-15 Dec. 2017
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: Deutschmann, Bastian
Deposited On:16 Aug 2018 15:08
Last Modified:16 Aug 2018 15:08

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