Wu, Xuwei und Ott, Christian und Albu-Schäffer, Alin und Dietrich, Alexander (2022) Passive Decoupled Multitask Controller for Redundant Robots. IEEE Transactions on Control Systems Technology, 31 (1), Seiten 1-16. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TCST.2022.3162990. ISSN 1063-6536.
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Offizielle URL: https://ieeexplore.ieee.org/document/9759510
Kurzfassung
Kinematic redundancy in robots makes it possible to execute several control tasks simultaneously. As some tasks are usually more important than others, it is reasonable to dynamically decouple them in order to ensure their execution in a hierarchical way or even without any interference at all. The most widely used technique is to decouple the system by feedback linearization. However, that requires actively shaping the inertia and consequently modifying the natural dynamics of the robot. Here we propose a passivity-based multi-task tracking controller that preserves these inertial properties but fully compensates for task-space cross-couplings using external force feedback. Additionally, three formal proofs are provided: uniform exponential stability for trajectory tracking, passivity during physical interaction, and input-to-state-stability. The controller is validated in simulations and experiments and directly compared with the hierarchical PD+ approach and the feedback linearization. The proposed approach is well suited for safe physical human-robot interaction and dynamic trajectory tracking if measurements or estimations of the external forces are available.
elib-URL des Eintrags: | https://elib.dlr.de/185935/ | ||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||
Titel: | Passive Decoupled Multitask Controller for Redundant Robots | ||||||||||||||||||||
Autoren: |
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Datum: | April 2022 | ||||||||||||||||||||
Erschienen in: | IEEE Transactions on Control Systems Technology | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||
Band: | 31 | ||||||||||||||||||||
DOI: | 10.1109/TCST.2022.3162990 | ||||||||||||||||||||
Seitenbereich: | Seiten 1-16 | ||||||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||
ISSN: | 1063-6536 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Multi-task control, nonlinear systems, stability, trajectory tracking, physical interaction, redundant robots | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Roboterdynamik & Simulation [RO] | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||
Hinterlegt von: | Wu, Xuwei | ||||||||||||||||||||
Hinterlegt am: | 31 Mär 2022 10:10 | ||||||||||||||||||||
Letzte Änderung: | 12 Nov 2024 19:06 |
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