Lampariello, Roberto und Heindl, Johann und Koeppe, Ralf und Hirzinger, Gerhard (2006) Reactionless Control for Two Manipulators Mounted on a Cable-Suspended Platform. In: Proceedings, Seiten 91-97. IEEE/IROS International Conference on Intelligent Robots and Systems. RSJ, 2006-10-09 - 2006-10-15, Beijing, China.
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Kurzfassung
The dynamics and control of a cable-suspended, two-arm robotic system are developed for an entertainment application. One manipulator arm is controlled to fulfil a user defined task. The second arm is then controlled to compensate for the disturbances on the cable-suspended platform arising from the motion of the first. Model-based feed forward control, stemming from the momentum conservation equations of a free-floating robot, is developed for the motion compensation problem. Furthermore, due to model uncertainty, sensor-based feedback control is introduced, to account for undesired oscillatory motions of the system. The latter control problem reduces to the dissipation of the oscillatory energy of the system, by means of adequate robot control. Both control methods are implemented and tested on an experimental set-up.
elib-URL des Eintrags: | https://elib.dlr.de/45154/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag, Paper) | ||||||||||||||||||||
Titel: | Reactionless Control for Two Manipulators Mounted on a Cable-Suspended Platform | ||||||||||||||||||||
Autoren: |
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Datum: | 9 Oktober 2006 | ||||||||||||||||||||
Erschienen in: | Proceedings | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
Seitenbereich: | Seiten 91-97 | ||||||||||||||||||||
Verlag: | IEEE/IROS International Conference on Intelligent Robots and Systems | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Reactionless Control, Manipulators | ||||||||||||||||||||
Veranstaltungstitel: | RSJ | ||||||||||||||||||||
Veranstaltungsort: | Beijing, China | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 9 Oktober 2006 | ||||||||||||||||||||
Veranstaltungsende: | 15 Oktober 2006 | ||||||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||||||
HGF - Forschungsbereich: | Verkehr und Weltraum (alt) | ||||||||||||||||||||
HGF - Programm: | Weltraum (alt) | ||||||||||||||||||||
HGF - Programmthema: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Schwerpunkt: | Weltraum | ||||||||||||||||||||
DLR - Forschungsgebiet: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | W - Vorhaben On-Orbit Servicing (alt) | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) > Robotersysteme | ||||||||||||||||||||
Hinterlegt von: | Beinhofer, Gabriele | ||||||||||||||||||||
Hinterlegt am: | 27 Feb 2007 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 19:07 |
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