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Actuating Eigenmanifolds of Conservative Mechanical Systems Via Bounded or Impulsive Control Actions

Della Santina, Cosimo and Calzolari, Davide and Giordano, Alessandro Massimo and Albu-Schäffer, Alin Olimpiu (2021) Actuating Eigenmanifolds of Conservative Mechanical Systems Via Bounded or Impulsive Control Actions. IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3061391. ISSN 2377-3766.

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Eigenmanifolds are two-dimensional submanifolds of the state space, which generalize linear eigenspaces to nonlinear mechanical systems. Initializing a robot on an Eigenmanifold (or driving it there by control) yields hyper-efficient and regular oscillatory behaviors, called modal oscillations. This letter investigates the possibility of transitioning between two modal oscillations without ever leaving the Eigenmanifold. This is essential to generate control inputs that decrease or increase the amplitude of the nonlinear oscillations. First, we prove that this goal can be achieved using bounded inputs only for Eigenmanifolds with unidimensional projection in configuration space. Then, we show that by allowing for impulsive control actions, the problem can be solved for all Eigenmanifolds which self-intersect when projected in configuration space.

Item URL in elib:https://elib.dlr.de/141118/
Document Type:Article
Title:Actuating Eigenmanifolds of Conservative Mechanical Systems Via Bounded or Impulsive Control Actions
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Della Santina, CosimoUNSPECIFIEDhttps://orcid.org/0000-0003-1067-1134UNSPECIFIED
Giordano, Alessandro MassimoUNSPECIFIEDhttps://orcid.org/0000-0003-2291-7525UNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115857
Date:23 February 2021
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Natural Machine Motion, Compliant Joints and Mechanisms, Motion Control
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - On-Orbit Servicing [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Beinhofer, Gabriele
Deposited On:28 Apr 2021 14:30
Last Modified:23 Oct 2023 09:28

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