Iskandar, Maged und Ott, Christian und Eiberger, Oliver und Keppler, Manuel und Albu-Schäffer, Alin und Dietrich, Alexander (2020) Joint-Level Control of the DLR Lightweight Robot SARA. In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, Seiten 8903-8910. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020-10-25 - 2020-10-29, Las Vegas, NV, USA. doi: 10.1109/iros45743.2020.9340700. ISBN 978-172816212-6. ISSN 2153-0858.
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Kurzfassung
Lightweight robots are known to be intrinsically elastic in their joints. The established classical approaches to control such systems are mostly based on motor-side coordinates since the joints are comparatively stiff. However, that inevitably introduces errors in the coordinates that actually matter: the ones on the link side. Here we present a new joint-torque controller that uses feedback of the link-side positions. Passivity during interaction with the environment is formally shown as well as asymptotic stability of the desired equilibrium in the regulation case. The performance of the control approach is experimentally validated on DLR’s new generation of lightweight robots, namely the SARA robot, which enables this step from motor-side-based to link-sided-based control due to sensors with higher resolution and improved sampling rate.
elib-URL des Eintrags: | https://elib.dlr.de/138637/ | ||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||
Titel: | Joint-Level Control of the DLR Lightweight Robot SARA | ||||||||||||||
Autoren: |
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Datum: | 25 Oktober 2020 | ||||||||||||||
Erschienen in: | 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 | ||||||||||||||
Open Access: | Ja | ||||||||||||||
In SCOPUS: | Ja | ||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||
DOI: | 10.1109/iros45743.2020.9340700 | ||||||||||||||
Seitenbereich: | Seiten 8903-8910 | ||||||||||||||
ISSN: | 2153-0858 | ||||||||||||||
ISBN: | 978-172816212-6 | ||||||||||||||
Stichwörter: | lightweight robots, SARA robot, torque-controlled robots, torque control loop , torque dynamics, DLR lightweight robot | ||||||||||||||
Veranstaltungstitel: | 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) | ||||||||||||||
Veranstaltungsort: | Las Vegas, NV, USA | ||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||
Veranstaltungsbeginn: | 25 Oktober 2020 | ||||||||||||||
Veranstaltungsende: | 29 Oktober 2020 | ||||||||||||||
Veranstalter : | IEEE | ||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme Institut für Robotik und Mechatronik (ab 2013) > Mechatronische Systeme |
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