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De Stefano, Marco und Balachandran, Ribin und Giordano, Alessandro Massimo und Ott, Christian und Secchi, Cristian (2018) An Energy-Based Approach for the Multi-Rate Control of a Manipulator on an Actuated Base. In: 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. IEEE. 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018-05-21 - 2018-05-25, Brisbane, QLD, Australia. doi: 10.1109/ICRA.2018.8460497. ISBN 978-153863081-5. ISSN 1050-4729.
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Offizielle URL: https://ieeexplore.ieee.org/document/8460497
Kurzfassung
In this paper we address the problem of controlling a robotic system mounted on an actuated floating base for space applications. In particular, we investigate the stability issues due to the low rate of the base control unit. We propose a passivity-based stabilizing controller based on the time domain passivity approach. The controller uses a variable damper regulated by a designed energy observer. The effectiveness of the proposed strategy is validated on a base-manipulator multibody simulation.
| elib-URL des Eintrags: | https://elib.dlr.de/124625/ | ||||||||||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||
| Titel: | An Energy-Based Approach for the Multi-Rate Control of a Manipulator on an Actuated Base | ||||||||||||||||||||||||
| Autoren: |
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| Datum: | 2018 | ||||||||||||||||||||||||
| Erschienen in: | 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 | ||||||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||||||
| Open Access: | Ja | ||||||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||||||
| In SCOPUS: | Ja | ||||||||||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||||||||||
| DOI: | 10.1109/ICRA.2018.8460497 | ||||||||||||||||||||||||
| Verlag: | IEEE | ||||||||||||||||||||||||
| ISSN: | 1050-4729 | ||||||||||||||||||||||||
| ISBN: | 978-153863081-5 | ||||||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||||||
| Stichwörter: | space robotics; control; multi-rate; coordinated control | ||||||||||||||||||||||||
| Veranstaltungstitel: | 2018 IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||||||
| Veranstaltungsort: | Brisbane, QLD, Australia | ||||||||||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
| Veranstaltungsbeginn: | 21 Mai 2018 | ||||||||||||||||||||||||
| Veranstaltungsende: | 25 Mai 2018 | ||||||||||||||||||||||||
| 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: | De Stefano, Marco | ||||||||||||||||||||||||
| Hinterlegt am: | 11 Dez 2018 12:04 | ||||||||||||||||||||||||
| Letzte Änderung: | 24 Apr 2024 20:28 |
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