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Adaptive Passivity-based Multi-Task Tracking Control for Robotic Manipulators

Garofalo, Gianluca and Wu, Xuwei and Ott, Christian (2021) Adaptive Passivity-based Multi-Task Tracking Control for Robotic Manipulators. IEEE Robotics and Automation Letters, 6 (4), pp. 7129-7136. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3095930. ISSN 2377-3766.

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Official URL: https://ieeexplore.ieee.org/document/9479797


Adaptive control of robot manipulators based on the use of a sliding variable and the passivity property of the dynamic equations was originally designed and successfully applied to task tracking in joint space few decades ago. Surprisingly, no extension is available to date for the multi-task case such that the controller tends towards enforcing strict task priorities as the parameters tend to their real values. Given the importance of both multi-task control and adaptive algorithms, an approach that deals with this situation has an important impact in the robotic field. This letter provides a solution to this problem leveraging on our recent formulation of hierarchical multi-task impedance control for trajectory tracking and on geometric methods for model identification. Experiments are used to validate the stability analysis.

Item URL in elib:https://elib.dlr.de/144931/
Document Type:Article
Title:Adaptive Passivity-based Multi-Task Tracking Control for Robotic Manipulators
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Garofalo, GianlucaUNSPECIFIEDhttps://orcid.org/0000-0002-7481-3464UNSPECIFIED
Wu, XuweiUNSPECIFIEDhttps://orcid.org/0000-0003-2616-9149UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:9 July 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
Page Range:pp. 7129-7136
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Robust/Adaptive Control, Multi-Task Motion Planning and Control, Compliance and Impedance 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 - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Wu, Xuwei
Deposited On:08 Nov 2021 10:07
Last Modified:24 May 2022 23:47

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