Michel, Youssef und Saveriano, Matteo und Lee, Dongheui (2023) A Passivity-Based Approach for Variable Stiffness Control With Dynamical Systems. IEEE Transactions on Automation Science and Engineering, Seiten 1-12. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TASE.2023.3324141. ISSN 1545-5955.
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Offizielle URL: https://ieeexplore.ieee.org/document/10288346
Kurzfassung
Kinematic redundancy significantly improves the dexterity and flexibility of robotic manipulators. The redundant degrees of freedom can be exploited to fulfill additional tasks that can be executed without disturbing the primary task. In this work, we investigate how a time varying impedance behavior can be embedded into redundant manipulators where it is desired to achieve such a behavior both for the primary and null space tasks. A passivity based controller is developed, relying on the concept of energy tanks which are filled by the dissipated power in the system, and compensate for non-passive control actions. This guarantees that the system remains passive, which ensures stable interactions with any passive environment. The method is validated in simulations where the interactive behavior of the main and null space tasks is specified by a time varying stiffness profile.
elib-URL des Eintrags: | https://elib.dlr.de/202047/ | ||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||
Titel: | A Passivity-Based Approach for Variable Stiffness Control With Dynamical Systems | ||||||||||||||||
Autoren: |
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Datum: | 19 Oktober 2023 | ||||||||||||||||
Erschienen in: | IEEE Transactions on Automation Science and Engineering | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
DOI: | 10.1109/TASE.2023.3324141 | ||||||||||||||||
Seitenbereich: | Seiten 1-12 | ||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||
ISSN: | 1545-5955 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Robot control, Variable Impedance control, Redundant manipulators, Passivity-based control, Energy tanks | ||||||||||||||||
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 - Intuitive Mensch-Roboter Schnittstelle [RO] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
Hinterlegt von: | Geyer, Günther | ||||||||||||||||
Hinterlegt am: | 17 Jan 2024 11:58 | ||||||||||||||||
Letzte Änderung: | 14 Nov 2024 15:34 |
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