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De Stefano, Marco and Balachandran, Ribin and Giordano, Alessandro Massimo and Ott, Christian and 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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Official URL: https://ieeexplore.ieee.org/document/8460497
Abstract
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.
| Item URL in elib: | https://elib.dlr.de/124625/ | ||||||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||||||
| Title: | An Energy-Based Approach for the Multi-Rate Control of a Manipulator on an Actuated Base | ||||||||||||||||||||||||
| Authors: |
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| Date: | 2018 | ||||||||||||||||||||||||
| Journal or Publication Title: | 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 | ||||||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||||||||
| DOI: | 10.1109/ICRA.2018.8460497 | ||||||||||||||||||||||||
| Publisher: | IEEE | ||||||||||||||||||||||||
| ISSN: | 1050-4729 | ||||||||||||||||||||||||
| ISBN: | 978-153863081-5 | ||||||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||||||
| Keywords: | space robotics; control; multi-rate; coordinated control | ||||||||||||||||||||||||
| Event Title: | 2018 IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||||||
| Event Location: | Brisbane, QLD, Australia | ||||||||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||||||||
| Event Start Date: | 21 May 2018 | ||||||||||||||||||||||||
| Event End Date: | 25 May 2018 | ||||||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||||||
| DLR - Research theme (Project): | R - Vorhaben Robotdynamik & Simulation (old) | ||||||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | ||||||||||||||||||||||||
| Deposited By: | De Stefano, Marco | ||||||||||||||||||||||||
| Deposited On: | 11 Dec 2018 12:04 | ||||||||||||||||||||||||
| Last Modified: | 24 Apr 2024 20:28 |
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