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A Passivity-Based Approach for Variable Stiffness Control With Dynamical Systems

Michel, Youssef and Saveriano, Matteo and Lee, Dongheui (2023) A Passivity-Based Approach for Variable Stiffness Control With Dynamical Systems. IEEE Transactions on Automation Science and Engineering, pp. 1-12. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TASE.2023.3324141. ISSN 1545-5955.

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Official URL: https://ieeexplore.ieee.org/document/10288346


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.

Item URL in elib:https://elib.dlr.de/202047/
Document Type:Article
Title:A Passivity-Based Approach for Variable Stiffness Control With Dynamical Systems
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Lee, DongheuiUNSPECIFIEDhttps://orcid.org/0000-0003-1897-7664UNSPECIFIED
Date:19 October 2023
Journal or Publication Title:IEEE Transactions on Automation Science and Engineering
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 1-12
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Robot control, Variable Impedance control, Redundant manipulators, Passivity-based control, Energy tanks
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 - Intuitive human-robot interface [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Geyer, Günther
Deposited On:17 Jan 2024 11:58
Last Modified:17 Jan 2024 11:58

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