Meng, Xuming und Keppler, Manuel und Ott, Christian (2022) Passivity-based Motion and Force Tracking Control for Constrained Elastic Joint Robots. IEEE Control Systems Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LCSYS.2022.3187345. ISSN 2475-1456.
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Offizielle URL: https://ieeexplore.ieee.org/document/9810336
Kurzfassung
In the past, several motion and force controls were successfully implemented on rigid-joint robots with constraints. With the invention of mechanically compliant robots, the focus on designing controllers for elastic joint robots with constraints is increasing, especially involving the complexity of the joint elasticity in control. Aiming to bridge the gap between the control schemes of rigid- and elastic-joint robots, this letter presents a controller consisting of a PD+ task-space tracking and integral force control, while the intrinsic inertial and elastic properties of the system are fully preserved. We provide a passivity analysis and prove uniform asymptotic stability of the equilibrium. Simulations on a planar two-armed benchmark system with constraints validate the proposed control law.
elib-URL des Eintrags: | https://elib.dlr.de/187122/ | ||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||
Titel: | Passivity-based Motion and Force Tracking Control for Constrained Elastic Joint Robots | ||||||||||||||||
Autoren: |
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Datum: | Juni 2022 | ||||||||||||||||
Erschienen in: | IEEE Control Systems Letters | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
DOI: | 10.1109/LCSYS.2022.3187345 | ||||||||||||||||
Herausgeber: |
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Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||
ISSN: | 2475-1456 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Robotics, control applications | ||||||||||||||||
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], R - Interagierende Robotersteuerung [RO] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||
Hinterlegt von: | Meng, Xuming | ||||||||||||||||
Hinterlegt am: | 13 Jul 2022 12:30 | ||||||||||||||||
Letzte Änderung: | 13 Jul 2022 12:30 |
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