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A Memory-based SO(3) Parameterization: Theory and Application to 6D Impedance Control with Radially Unbounded Potential Function

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), 23-27 May 2022, Philadelphia, PA, USA. doi: 10.1109/ICRA46639.2022.9812268. ISBN 978-172819681-7. ISSN 1050-4729.

Full text not available from this repository.

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/
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:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Jeong, JinyeongKAISTUNSPECIFIEDUNSPECIFIED
Mishra, HrishikUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Kim, MinJunUNSPECIFIEDhttps://orcid.org/0000-0003-0605-4512UNSPECIFIED
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 Dates:23-27 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:27 Oct 2023 15:29

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