Jeong, Jinyeong and Mishra, Hrishik and Ott, Christian and Kim, MinJun (2022) A Memory-based SO(3) Parameterization: Theory and Application to 6D Impedance Control with Radially Unbounded Potential Function. In: 39th IEEE International Conference on Robotics and Automation, ICRA 2022. IEEE. 2022 International Conference on Robotics and Automation (ICRA), 2022-05-23 - 2022-05-27, Philadelphia, PA, USA. doi: 10.1109/ICRA46639.2022.9812268. ISBN 978-172819681-7. ISSN 1050-4729.
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Official URL: https://ieeexplore.ieee.org/abstract/document/9812268
Abstract
This paper proposes a parameterization method to represent SO (3) over multiple turns. This method is called a memory-based parameterization, because the idea is to integrate the past trajectory of exponential coordinates. The parameterization is consistent in the sense that the true rotation matrix can be reconstructed by using the exponential map. As an application of the proposed method, a 6D impedance controller is designed with a radially unbounded potential function. Consequently, in contrast to the conventional methods, an arbitrarily large angular deflection can be accommodated, resulting in a more realistic impedance behavior. The proposed schemes are validated through simulations and experiments.
Item URL in elib: | https://elib.dlr.de/191836/ | ||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||
Title: | A Memory-based SO(3) Parameterization: Theory and Application to 6D Impedance Control with Radially Unbounded Potential Function | ||||||||||||||||||||
Authors: |
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Date: | 2022 | ||||||||||||||||||||
Journal or Publication Title: | 39th IEEE International Conference on Robotics and Automation, ICRA 2022 | ||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||
Open Access: | No | ||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||
In SCOPUS: | Yes | ||||||||||||||||||||
In ISI Web of Science: | Yes | ||||||||||||||||||||
DOI: | 10.1109/ICRA46639.2022.9812268 | ||||||||||||||||||||
Publisher: | IEEE | ||||||||||||||||||||
ISSN: | 1050-4729 | ||||||||||||||||||||
ISBN: | 978-172819681-7 | ||||||||||||||||||||
Status: | Published | ||||||||||||||||||||
Keywords: | Automation, Aerospace electronics, Trajectory, Behavioral sciences, Impedance | ||||||||||||||||||||
Event Title: | 2022 International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||
Event Location: | Philadelphia, PA, USA | ||||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||||
Event Start Date: | 23 May 2022 | ||||||||||||||||||||
Event End Date: | 27 May 2022 | ||||||||||||||||||||
Organizer: | IEEE | ||||||||||||||||||||
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 - Interacting Robot Control [RO], R - Robot Dynamics & Simulation [RO], R - On-Orbit Servicing [RO] | ||||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems Institute of Robotics and Mechatronics (since 2013) | ||||||||||||||||||||
Deposited By: | Strobl, Dr. Klaus H. | ||||||||||||||||||||
Deposited On: | 08 Dec 2022 07:25 | ||||||||||||||||||||
Last Modified: | 24 Apr 2024 20:53 |
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