Michel, Youssef and Ott, Christian and Lee, Dongheui (2020) Passivity-based variable impedance control for redundant manipulators. IFAC-PapersOnLine, 53 (2), pp. 9865-9872. IFAC Secretariat. doi: 10.1016/j.ifacol.2020.12.2692. ISSN 2405-8963.
PDF
- Preprint version (submitted draft)
1MB |
Official URL: https://www.sciencedirect.com/science/article/pii/S2405896320334546#!
Abstract
Kinematic redundancy significantly improves the dexterity and flexibility of robotic manipulators. The redundant degrees of freedom can be exploited to fulfill additional tasks that can be executed without disturbing the primary task. In this work, we investigate how a time varying impedance behavior can be embedded into redundant manipulators where it is desired to achieve such a behavior both for the primary and null space tasks. A passivity based controller is developed, relying on the concept of energy tanks which are filled by the dissipated power in the system, and compensate for non-passive control actions. This guarantees that the system remains passive, which ensures stable interactions with any passive environment. The method is validated in simulations where the interactive behavior of the main and null space tasks is specified by a time varying stiffness profile.
Item URL in elib: | https://elib.dlr.de/139078/ | ||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Document Type: | Article | ||||||||||||||||
Title: | Passivity-based variable impedance control for redundant manipulators | ||||||||||||||||
Authors: |
| ||||||||||||||||
Date: | 2020 | ||||||||||||||||
Journal or Publication Title: | IFAC-PapersOnLine | ||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||
Open Access: | Yes | ||||||||||||||||
Gold Open Access: | No | ||||||||||||||||
In SCOPUS: | Yes | ||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||
Volume: | 53 | ||||||||||||||||
DOI: | 10.1016/j.ifacol.2020.12.2692 | ||||||||||||||||
Page Range: | pp. 9865-9872 | ||||||||||||||||
Publisher: | IFAC Secretariat | ||||||||||||||||
ISSN: | 2405-8963 | ||||||||||||||||
Status: | Published | ||||||||||||||||
Keywords: | variable impedance, passivity, energy tank | ||||||||||||||||
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) | ||||||||||||||||
Deposited By: | Lee, Prof. Dongheui | ||||||||||||||||
Deposited On: | 08 Mar 2022 15:21 | ||||||||||||||||
Last Modified: | 08 Mar 2022 15:26 |
Repository Staff Only: item control page