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Keppler, Manuel and Lakatos, Dominic and Ott, Christian and 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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Official URL: https://ieeexplore.ieee.org/document/8550200
Abstract
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.
| Item URL in elib: | https://elib.dlr.de/127897/ | ||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||
| Title: | Visco-Elastic Structure Preserving Impedance (VESPi) Control for Compliantly Actuated Robots | ||||||||||||||||||||
| Authors: |
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| Date: | 2018 | ||||||||||||||||||||
| Journal or Publication Title: | 16th European Control Conference, ECC 2018 | ||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||||
| DOI: | 10.23919/ECC.2018.8550200 | ||||||||||||||||||||
| Publisher: | IEEE | ||||||||||||||||||||
| ISSN: | 1792-6688 | ||||||||||||||||||||
| ISBN: | 978-3-9524-2698-2 | ||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||
| Keywords: | Compliant Robots, Nonlinear Control, Tracking, Impedance Control | ||||||||||||||||||||
| Event Title: | ECC 2018 | ||||||||||||||||||||
| Event Location: | Limassol, Cyprus | ||||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||||
| Event Start Date: | 12 June 2018 | ||||||||||||||||||||
| Event End Date: | 15 June 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 - Interacting Robot Control [SY] | ||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | ||||||||||||||||||||
| Deposited By: | Keppler, Manuel | ||||||||||||||||||||
| Deposited On: | 28 Jun 2019 15:46 | ||||||||||||||||||||
| Last Modified: | 24 Apr 2024 20:31 |
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