Panzirsch, Michael und Sierotowicz, Marek und Prakash, Revanth und Singh, Harsimran und Ott, Christian (2022) Deflection-Domain Passivity Control of Variable Stiffnesses Based on Potential Energy Reference. IEEE Robotics and Automation Letters, 7 (2), Seiten 4440-4447. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3147566. ISSN 2377-3766.
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Offizielle URL: https://ieeexplore.ieee.org/document/9699036
Kurzfassung
With emerging capabilities, robots will advance gradually into human environments in the near future. Thereby, safety and robustness is currently tackled through intrinsically soft robotics or variable impedances, mainly stiffnesses. In tele-operation, for instance, the control stiffness can be adapted to a measured arm impedance of the operator to stiffen the robot only when required for a manipulation task. Thus, humans or moving objects in the robot's environment are protected from hard collisions. Independent from its realization through hardware or software, the stability of the variation needs to be ensured through control strategies since energy is potentially introduced into the robotic system. This work presents a novel gradient-based passivity control concept for variable stiffnesses. In contrast to state-of-the-art methods, the approach is based on a potential energy storage reference and prevents phases of zero stiffness through deflection-domain control. I.e., according to the energy storage, the stiffness variation over the spring deflection is controlled to ensure passivity. Experiments confirm the functionality of the approach and its robustness against delayed communication and active environments.
elib-URL des Eintrags: | https://elib.dlr.de/186202/ | ||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||
Titel: | Deflection-Domain Passivity Control of Variable Stiffnesses Based on Potential Energy Reference | ||||||||||||||||||||||||
Autoren: |
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Datum: | 1 Februar 2022 | ||||||||||||||||||||||||
Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||
Band: | 7 | ||||||||||||||||||||||||
DOI: | 10.1109/LRA.2022.3147566 | ||||||||||||||||||||||||
Seitenbereich: | Seiten 4440-4447 | ||||||||||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | variable stiffness, deflection domain, teleoperation, passivity control | ||||||||||||||||||||||||
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 - Intuitive Mensch-Roboter Schnittstelle [RO] | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||||||
Hinterlegt von: | Panzirsch, Michael | ||||||||||||||||||||||||
Hinterlegt am: | 02 Mai 2022 11:12 | ||||||||||||||||||||||||
Letzte Änderung: | 02 Mai 2022 11:12 |
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