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Elastic Structure Preserving Impedance (ESPi) Control for Compliantly Actuated Robots

Keppler, Manuel and Lakatos, Dominic and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2018) Elastic Structure Preserving Impedance (ESPi) Control for Compliantly Actuated Robots. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. IEEE. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), 01 Oct - 05 Oct 2018, Madrid, Spain. doi: 10.1109/IROS.2018.8593415. ISBN 978-153868094-0. ISSN 2153-0858.

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Official URL: https://ieeexplore.ieee.org/document/8593415

Abstract

We present a new approach for Cartesian impedance control of compliantly actuated robots with possibly nonlinear spring characteristics. It reveals a remarkable stiffness and damping range in the experimental evaluation. The most interesting contribution, is the way the desired closed-loop dynamics is designed. Our control concept allows to add a desired stiffness and damping directly on the end-effector, while leaving the system structure intact. The intrinsic inertial and elastic properties of the system are preserved. This is achieved by introducing new motor coordinates that reflect the desired spring and damper terms. Theoretically, by means of additional motor inertia shaping it is possible to make the end-effector interaction behavior with respect to external loads approach, arbitrarily close, the interaction behavior that is achievable by classical Cartesian impedance control on rigid robots. The physically motivated design approach allows for an intuitive understanding of the resulting closed-loop dynamics. We perform a passivity and stability analysis on the basis of al physically motivated storage and Lyapunov function.

Item URL in elib:https://elib.dlr.de/143190/
Document Type:Conference or Workshop Item (Speech, Other)
Title:Elastic Structure Preserving Impedance (ESPi) Control for Compliantly Actuated Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Keppler, ManuelManuel.Keppler (at) dlr.dehttps://orcid.org/0000-0002-1532-963X
Lakatos, Dominicdominic.lakatos (at) dlr.dehttps://orcid.org/0000-0002-1841-9972
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.dehttps://orcid.org/0000-0001-5343-9074
Date:1 July 2018
Journal or Publication Title:2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI :10.1109/IROS.2018.8593415
Publisher:IEEE
ISSN:2153-0858
ISBN:978-153868094-0
Status:Published
Keywords:Compliant Robots, Impedance Control, Underactuated Systems
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
Event Location:Madrid, Spain
Event Type:international Conference
Event Dates:01 Oct - 05 Oct 2018
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 - Interacting Robot Control [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Keppler, Manuel
Deposited On:10 Aug 2021 08:50
Last Modified:09 Mar 2022 13:27

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