Lampariello, Roberto and Heindl, Johann and Koeppe, Ralf and Hirzinger, Gerhard (2006) Reactionless Control for Two Manipulators Mounted on a Cable-Suspended Platform. In: Proceedings, pp. 91-97. IEEE/IROS International Conference on Intelligent Robots and Systems. RSJ, 2006-10-09 - 2006-10-15, Beijing, China.
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Abstract
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.
Item URL in elib: | https://elib.dlr.de/45154/ | |||||||||||||||
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Document Type: | Conference or Workshop Item (Speech, Paper) | |||||||||||||||
Title: | Reactionless Control for Two Manipulators Mounted on a Cable-Suspended Platform | |||||||||||||||
Authors: |
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Date: | 9 October 2006 | |||||||||||||||
Journal or Publication Title: | Proceedings | |||||||||||||||
Refereed publication: | Yes | |||||||||||||||
Open Access: | Yes | |||||||||||||||
Gold Open Access: | No | |||||||||||||||
In SCOPUS: | No | |||||||||||||||
In ISI Web of Science: | No | |||||||||||||||
Page Range: | pp. 91-97 | |||||||||||||||
Publisher: | IEEE/IROS International Conference on Intelligent Robots and Systems | |||||||||||||||
Status: | Published | |||||||||||||||
Keywords: | Reactionless Control, Manipulators | |||||||||||||||
Event Title: | RSJ | |||||||||||||||
Event Location: | Beijing, China | |||||||||||||||
Event Type: | international Conference | |||||||||||||||
Event Dates: | 2006-10-09 - 2006-10-15 | |||||||||||||||
Organizer: | IEEE | |||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport (old) | |||||||||||||||
HGF - Program: | Space (old) | |||||||||||||||
HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | |||||||||||||||
DLR - Research area: | Space | |||||||||||||||
DLR - Program: | W SY - Technik für Raumfahrtsysteme | |||||||||||||||
DLR - Research theme (Project): | W - Vorhaben On-Orbit Servicing (old) | |||||||||||||||
Location: | Oberpfaffenhofen | |||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | |||||||||||||||
Deposited By: | Beinhofer, Gabriele | |||||||||||||||
Deposited On: | 27 Feb 2007 | |||||||||||||||
Last Modified: | 31 Jul 2019 19:18 |
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