elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Impressum | Datenschutz | Barrierefreiheit | Kontakt | English
Schriftgröße: [-] Text [+]

Passive Multi-Task Compliance Control With Strict Priority Through Energy Tanks

Tveter, Erling und Sæbø, Bjørn Kåre und Ott, Christian und Pettersen, Kristin Y. und Gravdahl, Jan Tommy (2025) Passive Multi-Task Compliance Control With Strict Priority Through Energy Tanks. IEEE Robotics and Automation Letters, 10 (9), Seiten 8786-8793. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2025.3588045. ISSN 2377-3766.

[img] PDF - Postprintversion (akzeptierte Manuskriptversion)
1MB

Offizielle URL: https://ieeexplore.ieee.org/document/11078881

Kurzfassung

A robot with kinematical redundancy with respect to a main task may perform additional tasks simultaneously with the main one. Often, it is desirable to prioritize the performance of some tasks over that of others. To create a strict priority between the different tasks, meaning the performance of higher-prioritized tasks is unaffected by lower-prioritized tasks, null-space projections are often used. Null-space projections may, however, cause the closed-loop system to lose the desirable passivity property, which is necessary to ensure stable interactions with passive environments. In previous works, an energy tank has therefore been introduced to compensate for the potential activity stemming from the null-space projections. However, if the energy tank becomes empty when using these previous methods, the performance of the lower-prioritized tasks suffers more than when using a classical, non-passive hierarchical control scheme. Thus, a new approach to handling this case is proposed in this work. In the event of the energy tank becoming empty and unable to compensate for any null-space projection-induced activity, the hierarchy is ceded to preserve the passivity of the system, leading to better performance of the lower-prioritized tasks compared to previous passivation schemes. Output strict passivity of the closed-loop system is proven irrespective of the amount of energy available from the energy tank, and the performance of the proposed method is validated and compared to that of a classical hierarchical impedance controller and that of an earlier passivation method through simulation and experiments of redundant robotic manipulators.

elib-URL des Eintrags:https://elib.dlr.de/216762/
Dokumentart:Zeitschriftenbeitrag
Titel:Passive Multi-Task Compliance Control With Strict Priority Through Energy Tanks
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Tveter, ErlingNICHT SPEZIFIZIERThttps://orcid.org/0009-0002-3977-8162NICHT SPEZIFIZIERT
Sæbø, Bjørn KåreNICHT SPEZIFIZIERThttps://orcid.org/0009-0003-2077-568XNICHT SPEZIFIZIERT
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493NICHT SPEZIFIZIERT
Pettersen, Kristin Y.NICHT SPEZIFIZIERThttps://orcid.org/0000-0002-3897-0315NICHT SPEZIFIZIERT
Gravdahl, Jan TommyNICHT SPEZIFIZIERThttps://orcid.org/0000-0002-5663-0795NICHT SPEZIFIZIERT
Datum:11 Juli 2025
Erschienen in:IEEE Robotics and Automation Letters
Referierte Publikation:Ja
Open Access:Ja
Gold Open Access:Nein
In SCOPUS:Ja
In ISI Web of Science:Ja
Band:10
DOI:10.1109/LRA.2025.3588045
Seitenbereich:Seiten 8786-8793
Verlag:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2377-3766
Status:veröffentlicht
Stichwörter:Robotics, 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 - Roboterdynamik & Simulation [RO]
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme
Institut für Robotik und Mechatronik (ab 2013)
Hinterlegt von: Dietrich, Dr.-Ing. Alexander
Hinterlegt am:23 Sep 2025 23:17
Letzte Änderung:23 Sep 2025 23:17

Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags

Blättern
Suchen
Hilfe & Kontakt
Informationen
OpenAIRE Validator logo electronic library verwendet EPrints 3.3.12
Gestaltung Webseite und Datenbank: Copyright © Deutsches Zentrum für Luft- und Raumfahrt (DLR). Alle Rechte vorbehalten.