Garofalo, Gianluca und Beck, Fabian und Klodmann, Julian und Ott, Christian (2020) Video: On the Control of Translationally Flexible Base Manipulators. In: European Control Conference 2020, ECC 2020. European Control Conference, 2020-05-12 - 2020-05-15, Saint Petersburg, Russia. ISBN 978-390714401-5. ISSN 1792-6688.
Dieses Archiv kann nicht den Volltext zur Verfügung stellen.
Offizielle URL: https://www.youtube.com/watch?v=oyntJIY13zE&list=PLixZ5o6f1LB3Drc5bWPq3PcGlwPyvuyXJ
Kurzfassung
This work considers the control of manipulators mounted on a translationally flexible base and extends a previous publication of the authors. The contribution is two- fold. Firstly, based on the previously proposed coordinate transformation, a new control strategy is developed, which features two enhancements: The stiffness of the base is allowed to be nonlinear; A momentum-based strategy for vibration damping enables to avoid the feedback linearization, which was required to apply linear stability theory before. Secondly, the control strategies are evaluated in experiments for the first time. Experiments and simulations are used to validate the results and compare the two methods to related approaches.
elib-URL des Eintrags: | https://elib.dlr.de/134140/ | ||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | Video: On the Control of Translationally Flexible Base Manipulators | ||||||||||||||||||||
Autoren: |
| ||||||||||||||||||||
Datum: | 12 Mai 2020 | ||||||||||||||||||||
Erschienen in: | European Control Conference 2020, ECC 2020 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
ISSN: | 1792-6688 | ||||||||||||||||||||
ISBN: | 978-390714401-5 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Underactuated Robots; Flexible Robots; Dynamics; Flexible Base Manipulators | ||||||||||||||||||||
Veranstaltungstitel: | European Control Conference | ||||||||||||||||||||
Veranstaltungsort: | Saint Petersburg, Russia | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 12 Mai 2020 | ||||||||||||||||||||
Veranstaltungsende: | 15 Mai 2020 | ||||||||||||||||||||
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 - Terrestrische Assistenz-Robotik (alt) | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||
Hinterlegt von: | Beck, Fabian | ||||||||||||||||||||
Hinterlegt am: | 24 Nov 2020 12:17 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:37 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags