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Hierarchical Impedance-Based Tracking Control of Kinematically Redundant Robots

Dietrich, Alexander and Ott, Christian (2020) Hierarchical Impedance-Based Tracking Control of Kinematically Redundant Robots. IEEE Transactions on Robotics, 36 (1), pp. 204-221. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2019.2945876. ISSN 1552-3098.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/8887212


The control of a robot in its task space is a standard approach nowadays. If the system is kinematically redundant with respect to this goal, one can even execute additional subtasks simultaneously. By utilizing null space projections, for example, the whole stack of tasks can be implemented within a strict task hierarchy following the order of priority. One of the most common methods to track multiple task-space trajectories at the same time is to feedback-linearize the system and dynamically decouple all involved subtasks, which finally yields the exponential stability of the desired equilibrium. In this article, we provide a hierarchical multi-objective controller for trajectory tracking that ensures both asymptotic stability of the equilibrium and a desired contact impedance at the same time. In contrast to the state of the art in prioritized multi-objective control, feedback of the external forces can be avoided and the natural inertia of the robot is preserved. The controller is evaluated in simulations and on a standard lightweight robot with torque interface. The approach is predestined for precise trajectory tracking where dedicated and robust physical-interaction compliance is crucial at the same time.

Item URL in elib:https://elib.dlr.de/134055/
Document Type:Article
Title:Hierarchical Impedance-Based Tracking Control of Kinematically Redundant Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Dietrich, AlexanderUNSPECIFIEDhttps://orcid.org/0000-0003-3463-5074UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:February 2020
Journal or Publication Title:IEEE Transactions on Robotics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 204-221
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Force control, redundant robots, hierarchical control, impedance control, physical human-robot-interaction, whole-body control, stability analysis, proof of stability
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: Dietrich, Dr.-Ing. Alexander
Deposited On:10 Feb 2020 12:47
Last Modified:24 Oct 2023 13:48

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