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Ott, Christian und Albu-Schaeffer, Alin und Hirzinger, Gerhard (2006) A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure. In: Proceedings, Seiten 4502-4508. IEEE/IROS International Conference on Intelligent Robots and Systems. RSJ, 2006-10-09 - 2006-10-15, Beijing, China.
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Kurzfassung
In this paper the Cartesian compliance control of a manipulator mounted on a flexible base is considered. The proposed control law aims at achieving a desired stiffness and damping in Cartesian coordinates while taking account of the base flexibility. The controller does not use any measurement of the base motion, however a model of the base stiffness is required. For the closed loop system, asymptotic stability in case of free motion is proven. Furthermore, considering interaction tasks, it is shown that the controlled manipulator system has a useful passivity property.
| Dokumentart: | Konferenzbeitrag (Vortrag, Paper) | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Titel: | A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure | ||||||||||||
| Autoren: |
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| Datum: | 9 Oktober 2006 | ||||||||||||
| Erschienen in: | Proceedings | ||||||||||||
| Referierte Publikation: | Ja | ||||||||||||
| In Open Access: | Nein | ||||||||||||
| In SCOPUS: | Nein | ||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||
| Seitenbereich: | Seiten 4502-4508 | ||||||||||||
| Verlag: | IEEE/IROS International Conference on Intelligent Robots and Systems | ||||||||||||
| Status: | veröffentlicht | ||||||||||||
| Stichwörter: | Cartesian Compliance Controller, Manipulator | ||||||||||||
| Veranstaltungstitel: | RSJ | ||||||||||||
| Veranstaltungsort: | Beijing, China | ||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||
| Veranstaltungsdatum: | 2006-10-09 - 2006-10-15 | ||||||||||||
| 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 - Weiterentwicklung Robotik - Mechatronik und Dynamik (alt) | ||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) > Robotersysteme | ||||||||||||
| Hinterlegt von: | Beinhofer, Gabriele | ||||||||||||
| Hinterlegt am: | 27 Feb 2007 | ||||||||||||
| Letzte Änderung: | 12 Dez 2013 20:21 |
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