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An Energy-Based Approach for the Multi-Rate Control of a Manipulator on an Actuated Base

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: IEEE International Conference on Robotics and Automation ICRA. 2018 IEEE International Conference on Robotics and Automation (ICRA), 21-25 May 2018, Brisbane, QLD, Australia.

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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/
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:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
De Stefano, Marcomarco.destefano (at) dlr.dehttps://orcid.org/0000-0003-3777-9487
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
Giordano, Alessandro MassimoAlessandro.Giordano (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Secchi, Cristiancristian.secchi (at) unimore.itUNSPECIFIED
Date:2018
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
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 Dates:21-25 May 2018
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: De Stefano, Marco
Deposited On:11 Dec 2018 12:04
Last Modified:31 Jul 2019 20:22

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