Lakatos, Kristin und Lakatos, Dominic und Wu, Xuwei und Kotyczka, Paul und Dietrich, Alexander (2024) On passivity-based trajectory tracking for robotic manipulators combining PD+ and Slotine-Li control. at - Automatisierungstechnik. Walter de Gruyter GmbH. ISSN 0178-2312.
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Kurzfassung
In this paper, a tracking controller for robots is analyzed, which allows both the specification of the convergence rate of the tracking errors and the parameterization of a desired contact stiffness and damping. It is shown that the control approach can be interpreted as a generalization of the well-known PD+ and Slotine-Li controllers, combining the benefits of both approaches. Although mentioned in the literature before, no thorough theoretical and practical analysis of the aforementioned passivity-based control concept has been performed so far. In this work, the implications of the gains are discussed \wrt convergence and interaction properties, addressing possible tuning strategies. Finally, the performance of the controller is evaluated in terms of tracking and interaction experiments on a KUKA LWR IV+.
elib-URL des Eintrags: | https://elib.dlr.de/205662/ | ||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||
Titel: | On passivity-based trajectory tracking for robotic manipulators combining PD+ and Slotine-Li control | ||||||||||||||||||||||||
Autoren: |
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Datum: | 2024 | ||||||||||||||||||||||||
Erschienen in: | at - Automatisierungstechnik | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||
Herausgeber: |
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Verlag: | Walter de Gruyter GmbH | ||||||||||||||||||||||||
ISSN: | 0178-2312 | ||||||||||||||||||||||||
Status: | akzeptierter Beitrag | ||||||||||||||||||||||||
Stichwörter: | Robot control, trajectory tracking, passivity-based control, human-robot interaction | ||||||||||||||||||||||||
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 - Roboterdynamik & Simulation [RO] | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||||||
Hinterlegt von: | Lakatos, Kristin | ||||||||||||||||||||||||
Hinterlegt am: | 06 Aug 2024 21:36 | ||||||||||||||||||||||||
Letzte Änderung: | 06 Aug 2024 21:36 |
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