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Passivity-based variable impedance control for redundant manipulators

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.

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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:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Michel, YoussefUNSPECIFIEDUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Lee, DongheuiDongheui.Lee (at) dlr.dehttps://orcid.org/0000-0003-1897-7664
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

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