Harder, Marie Christin und Keppler, Manuel und Meng, Xuming und Ott, Christian und Höppner, Hannes und Dietrich, Alexander (2022) Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators. IEEE Robotics and Automation Letters, 7 (3), Seiten 6614-6621. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3176094. ISSN 2377-3766.
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Offizielle URL: https://ieeexplore.ieee.org/document/9779469
Kurzfassung
Since safe human-robot interaction is naturally linked to compliance in these robots, this requirement presents a challenge for the positioning accuracy. The class of variable- stiffness robots features intrinsically soft contact behavior where the physical stiffness can even be altered during operation. Here we present a control scheme for bidirectional, antagonistic variable-stiffness actuators that achieve high-precision link-side trajectory tracking while simultaneously ensuring compliance during physical contact. Furthermore, the approach enables to regulate the pretension in the antagonism. The theoretical claims are confirmed by formal analyses of passivity during physical interaction and the proof of uniform asymptotic stability of the desired link-side trajectories. Experiments on the forearm joint of the DLR robot David verify the proposed approach.
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||||||
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Titel: | Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators | ||||||||||||||||||||||||||||
Autoren: |
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Datum: | Juli 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.2022.3176094 | ||||||||||||||||||||||||||||
Seitenbereich: | Seiten 6614-6621 | ||||||||||||||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||
Stichwörter: | Motion Control, Compliance and Impedance Control, Compliant Joints and Mechanisms | ||||||||||||||||||||||||||||
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: | Harder, Marie Christin | ||||||||||||||||||||||||||||
Hinterlegt am: | 06 Sep 2022 18:56 | ||||||||||||||||||||||||||||
Letzte Änderung: | 06 Sep 2022 18:56 |
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