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A Control Architecture for Efficient Point-to-Point Motions with Articulated Soft Arms

Bonacchi, Luigi Bono (2020) A Control Architecture for Efficient Point-to-Point Motions with Articulated Soft Arms. DLR-Interner Bericht. DLR-IB-RM-OP-2020-237. Master's. Politecnico di Milano. 120 S.

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Abstract

Introducing elasticity in the robot’s mechanics is proving to be a key ingredient in endowing robots with the ability of performing efficient and effective motions, especially when periodicity is involved in the task. However, how to develop controllers that can fully take advantage of these new possibilities is still an open challenge. This thesis tackles an instance of this general problem, by proposing a control architecture for executing efficient point-to-point periodic motions in robotic systems with adjustable parallel elasticity and variable stiffnesses. The algorithm is composed of two loops. The low-level one compensates for dissipation, therefore putting the robot in a stable oscillation. The high-level controller acts once every period. It adjusts the amplitude of excitation and the physical parameters of the system in order to move the end effector closer to the desired targets and, if possible, to compensate for any oscillation’s period error. Both loops are derived under a quasi-linear approximation of the dynamics, which allows for an analytic expression of the controllers. The resulting architectures show remarkable robustness both in simulations and experiments, across several conditions and tasks, combined with a high level of efficiency.

Item URL in elib:https://elib.dlr.de/139961/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:A Control Architecture for Efficient Point-to-Point Motions with Articulated Soft Arms
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Bonacchi, Luigi BonoUNSPECIFIEDUNSPECIFIED
Date:November 2020
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:120
Status:Published
Keywords:Natural Machine Motion, Motion Control, Compliant Joints and Mechanisms
Institution:Politecnico di Milano
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 - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:27 Dec 2020 23:48
Last Modified:26 Mar 2021 08:49

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