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Garofalo, Gianluca and Beck, Fabian and Klodmann, Julian and 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.
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Official URL: https://www.youtube.com/watch?v=oyntJIY13zE&list=PLixZ5o6f1LB3Drc5bWPq3PcGlwPyvuyXJ
Abstract
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.
| Item URL in elib: | https://elib.dlr.de/134140/ | ||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||
| Title: | Video: On the Control of Translationally Flexible Base Manipulators | ||||||||||||||||||||
| Authors: |
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| Date: | 12 May 2020 | ||||||||||||||||||||
| Journal or Publication Title: | European Control Conference 2020, ECC 2020 | ||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||
| Open Access: | No | ||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||||
| ISSN: | 1792-6688 | ||||||||||||||||||||
| ISBN: | 978-390714401-5 | ||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||
| Keywords: | Underactuated Robots; Flexible Robots; Dynamics; Flexible Base Manipulators | ||||||||||||||||||||
| Event Title: | European Control Conference | ||||||||||||||||||||
| Event Location: | Saint Petersburg, Russia | ||||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||||
| Event Start Date: | 12 May 2020 | ||||||||||||||||||||
| Event End Date: | 15 May 2020 | ||||||||||||||||||||
| 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 - Terrestrial Assistance Robotics (old) | ||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | ||||||||||||||||||||
| Deposited By: | Beck, Fabian | ||||||||||||||||||||
| Deposited On: | 24 Nov 2020 12:17 | ||||||||||||||||||||
| Last Modified: | 24 Apr 2024 20:37 |
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