elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Video: On the Control of Translationally Flexible Base Manipulators

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, 12-15 May 2020, Saint Petersburg, Russia. ISBN 978-390714401-5. ISSN 1792-6688.

Full text not available from this repository.

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/
Document Type:Conference or Workshop Item (Speech)
Title:Video: On the Control of Translationally Flexible Base Manipulators
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Garofalo, Gianlucagianluca.garofalo (at) dlr.dehttps://orcid.org/0000-0002-7481-3464
Beck, FabianFabian.Beck (at) dlr.dehttps://orcid.org/0000-0003-3239-5505
Klodmann, JulianJulian.Klodmann (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
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 Dates:12-15 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:25 Mar 2022 13:08

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.