Lee, Chan-Il und Kim, Do-Hyeong und Singh, Harsimran und Ryu, Jee-Hwan (2020) Successive Stiffness Increment and Time Domain Passivity Approach for Stable and High Bandwidth Control of Series Elastic Actuator. In: 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. IEEE. 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020-05-31 - 2020-08-31, Paris, France. doi: 10.1109/ICRA40945.2020.9196995. ISBN 978-172817395-5. ISSN 1050-4729.
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Offizielle URL: https://ieeexplore.ieee.org/document/9196995
Kurzfassung
For safe human-robot interaction, various type of flexible manipulators have been developed. Especially series elastic actuator (SEA) based manipulators have been getting huge attention since the elastic element of SEA prevents people from injury when undesirable collision happens. Moreover, it improves system durability by absorbing impact force, which could damage actuators. However, the elastic element inside SEA manipulator causes low system bandwidth which limits the speed performance of conventional impedance control approaches. To alleviate the low bandwidth issue of impedance controlled SEA while guaranteeing system stability, we implement Time Domain Passivity Approach (TDPA) and Successive Stiffness Increment (SSI) approach, which was invented in haptic and teleoperation domain. Impedance controlled SEA is reformulated as a two-port electrical circuit network for implementing TDPA. In addition, a pair of input and output power conjugate variable, dominating the system passivity is identified for implementing SSI approach. Experimental results showed that TDPA and SSI approach can render the stiffness of the impedance controller, which decides the bandwidth, upto 350 kN/m without any stability issue, while normal impedance controller only render upto 120 kN/m. Although both of the approaches significantly increased the bandwidth of the impedance controlled SEA, TDPA slightly outperformed in stability, and SSI outperformed in tracking.
elib-URL des Eintrags: | https://elib.dlr.de/192904/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | Successive Stiffness Increment and Time Domain Passivity Approach for Stable and High Bandwidth Control of Series Elastic Actuator | ||||||||||||||||||||
Autoren: |
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Datum: | 15 September 2020 | ||||||||||||||||||||
Erschienen in: | 2020 IEEE International Conference on Robotics and Automation, ICRA 2020 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
DOI: | 10.1109/ICRA40945.2020.9196995 | ||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||
ISSN: | 1050-4729 | ||||||||||||||||||||
ISBN: | 978-172817395-5 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | time domain passivity approach | ||||||||||||||||||||
Veranstaltungstitel: | 2020 IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||
Veranstaltungsort: | Paris, France | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 31 Mai 2020 | ||||||||||||||||||||
Veranstaltungsende: | 31 August 2020 | ||||||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||||||
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 - Telerobotik | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Autonomie und Fernprogrammierung Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||
Hinterlegt von: | Strobl, Dr. Klaus H. | ||||||||||||||||||||
Hinterlegt am: | 23 Dez 2022 11:26 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:54 |
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