Englsberger, Johannes und Dietrich, Alexander und Mesesan, George-Adrian und Garofalo, Gianluca und Ott, Christian und Albu-Schäffer, Alin Olimpiu (2020) MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks. In: 16th Robotics: Science and Systems, RSS 2020. Robotics: Science and Systems (RSS) 2020, 2020-07-12 - 2020-07-16, Corvallis, Oregon, USA (virtual due to Corona Pandemic). doi: 10.15607/RSS.2020.XVI.077. ISBN 978-0-9923747-6-1. ISSN 2330-765X.
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Kurzfassung
This work introduces the so-called Modular Passive Tracking Controller (MPTC), a generic passivity-based controller, which aims at independently fulfilling several subtask objectives. These are combined in a stack of tasks (SoT) that serves as a basis for the synthesis of an overall system controller. The corresponding analysis and controller design are based on Lyapunov theory. An important contribution of this work is the design of a specific optimization weighting matrix that ensures passivity of an overdetermined and thus conflicting task setup. The proposed framework is validated through simulations and experiments for both fixed-base and free-floating robots.
elib-URL des Eintrags: | https://elib.dlr.de/136932/ | ||||||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||||||
Titel: | MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks | ||||||||||||||||||||||||||||
Autoren: |
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Datum: | 2020 | ||||||||||||||||||||||||||||
Erschienen in: | 16th Robotics: Science and Systems, RSS 2020 | ||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||||||
DOI: | 10.15607/RSS.2020.XVI.077 | ||||||||||||||||||||||||||||
ISSN: | 2330-765X | ||||||||||||||||||||||||||||
ISBN: | 978-0-9923747-6-1 | ||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||
Stichwörter: | MPTC, Modular, Passive, Tracking, Controller, stack of tasks, Passivity, torque-control | ||||||||||||||||||||||||||||
Veranstaltungstitel: | Robotics: Science and Systems (RSS) 2020 | ||||||||||||||||||||||||||||
Veranstaltungsort: | Corvallis, Oregon, USA (virtual due to Corona Pandemic) | ||||||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||||||
Veranstaltungsbeginn: | 12 Juli 2020 | ||||||||||||||||||||||||||||
Veranstaltungsende: | 16 Juli 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: | Englsberger, Dr.-Ing. Johannes | ||||||||||||||||||||||||||||
Hinterlegt am: | 28 Okt 2020 16:31 | ||||||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:39 |
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