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Keppler, Manuel und Lakatos, Dominic und Ott, Christian und Alin, Albu-Schäffer (2018) Visco-Elastic Structure Preserving Impedance (VESPi) Control for Compliantly Actuated Robots. In: 16th European Control Conference, ECC 2018. IEEE. ECC 2018, 2018-06-12 - 2018-06-15, Limassol, Cyprus. doi: 10.23919/ECC.2018.8550200. ISBN 978-3-9524-2698-2. ISSN 1792-6688.
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Offizielle URL: https://ieeexplore.ieee.org/document/8550200
Kurzfassung
In this paper we consider the control of robots that feature visco-elastic actuators with adjustable physical damping. Considering the link variables of the robot as output, the corresponding system dynamics has a relative degree of 3. We present a novel control approach that allows to realize a torque interface on the link side, while preserving the intrinsic visco-elastic structure and the inertial properties of the system. By means of this joint torque interface one can implement link-side position tracking and impedance tasks. For this case, we provide a stability and passivity analysis. The control approach has been verified by experiments with a visco-elastic joint testbed.
| elib-URL des Eintrags: | https://elib.dlr.de/127897/ | ||||||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
| Titel: | Visco-Elastic Structure Preserving Impedance (VESPi) Control for Compliantly Actuated Robots | ||||||||||||||||||||
| Autoren: |
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| Datum: | 2018 | ||||||||||||||||||||
| Erschienen in: | 16th European Control Conference, ECC 2018 | ||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||
| Open Access: | Ja | ||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||
| In SCOPUS: | Ja | ||||||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||||||
| DOI: | 10.23919/ECC.2018.8550200 | ||||||||||||||||||||
| Verlag: | IEEE | ||||||||||||||||||||
| ISSN: | 1792-6688 | ||||||||||||||||||||
| ISBN: | 978-3-9524-2698-2 | ||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||
| Stichwörter: | Compliant Robots, Nonlinear Control, Tracking, Impedance Control | ||||||||||||||||||||
| Veranstaltungstitel: | ECC 2018 | ||||||||||||||||||||
| Veranstaltungsort: | Limassol, Cyprus | ||||||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
| Veranstaltungsbeginn: | 12 Juni 2018 | ||||||||||||||||||||
| Veranstaltungsende: | 15 Juni 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 - Interagierende Robotersteuerung [SY] | ||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||
| Hinterlegt von: | Keppler, Manuel | ||||||||||||||||||||
| Hinterlegt am: | 28 Jun 2019 15:46 | ||||||||||||||||||||
| Letzte Änderung: | 24 Apr 2024 20:31 |
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