Kim, MinJun und Beck, Fabian und Ott, Christian und Albu-Schäffer, Alin Olimpiu (2019) Model-free Friction Observers for Flexible Joint Robots with Torque Measurements. IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/tro.2019.2926496. ISSN 1552-3098.
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Kurzfassung
This paper tackles a friction compensation problem without using a friction model. The unique feature of the proposed friction observer is that the nominal motor-side signal is fed back into the controller instead of the measured signal. By doing so, asymptotic stability and passivity of the controller are maintained. Another advantage of the proposed observer is that it provides a clear understanding for the stiction compensation which is hard to be captured in model-free approaches. This allows to design observers that do not overcompensate for the stiction. The proposed scheme is validated through simulations and experiments.
elib-URL des Eintrags: | https://elib.dlr.de/132333/ | ||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||
Titel: | Model-free Friction Observers for Flexible Joint Robots with Torque Measurements | ||||||||||||||||||||
Autoren: |
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Datum: | Dezember 2019 | ||||||||||||||||||||
Erschienen in: | IEEE Transactions on Robotics | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||
DOI: | 10.1109/tro.2019.2926496 | ||||||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||
ISSN: | 1552-3098 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Flexible joint robots, Friction observer, disturbance observer, passivity-based control | ||||||||||||||||||||
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 Intelligente Mobilität (alt) | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||
Hinterlegt von: | Kim, MinJun | ||||||||||||||||||||
Hinterlegt am: | 13 Dez 2019 10:22 | ||||||||||||||||||||
Letzte Änderung: | 31 Okt 2023 13:30 |
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