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Joint-Level Control of the DLR Lightweight Robot SARA

Iskandar, Maged and Ott, Christian and Eiberger, Oliver and Keppler, Manuel and Albu-Schäffer, Alin and 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, pp. 8903-8910. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 25-29 October 2020, Las Vegas, NV, USA. ISBN 978-172816212-6. ISSN 2153-0858.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/138637/
Document Type:Conference or Workshop Item (Speech)
Title:Joint-Level Control of the DLR Lightweight Robot SARA
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Iskandar, MagedMaged.Iskandar (at) dlr.dehttps://orcid.org/0000-0003-0644-0659
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Eiberger, Oliveroliver.eiberger (at) dlr.deUNSPECIFIED
Keppler, ManuelManuel.Keppler (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.dehttps://orcid.org/0000-0002-6639-0967
Dietrich, AlexanderAlexander.Dietrich (at) dlr.dehttps://orcid.org/0000-0003-3463-5074
Date:25 October 2020
Journal or Publication Title:2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Page Range:pp. 8903-8910
ISSN:2153-0858
ISBN:978-172816212-6
Status:Published
Keywords:lightweight robots, SARA robot, torque-controlled robots, torque control loop , torque dynamics, DLR lightweight robot
Event Title:2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Las Vegas, NV, USA
Event Type:international Conference
Event Dates:25-29 October 2020
Organizer:IEEE
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 - Vorhaben Robotdynamik & Simulation (old), R - Lightweight Robotics [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Iskandar, Maged Samuel Zakri
Deposited On:07 Dec 2020 10:59
Last Modified:25 Mar 2021 09:27

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