Palli, G. and Melchiorri, C. and Wimböck, Thomas and Grebenstein, Markus and Hirzinger, Gerd (2007) Feedback linearization and simultaneous stiffness-position control of robots with antagonistic actuated joints. In: Proceedings of ICRA, pp. 4367-4372. IEEE. International Conference on Robotics and Automation, 2007-04-10 - 2007-04-14, Roma, Italy.
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Abstract
In this paper, the dynamic model of a robot with antagonistic actuated joints is presented, and the problem of full linearization via static state feedback is analyzed. The use of transmission elements with nonlinear relation between the displacement and the actuated force allows to control both the position and the stiffness of each joint. The main advantage of this actuation modality is that the achieved stiffness becomes same mechanical characteristic of the system and it is not the result of an immediate control action as in the classical impedance control scheme. Different examples of implementation of this kind of devices are known in literature, even if limited to one single joint and the application of antagonistic actuated kinematic chains in the field of robotic hand design is under investigation. After a brief review of the dependence of the properties of antagonistic actuation on the transmission elements characteristics, a scheme for simultaneous stiffness-position control of the linearized system is presented. Finally, simulation results of a two-link antagonistic actuated arm are reported and discussed.
Item URL in elib: | https://elib.dlr.de/52955/ | ||||||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||||||||||||||||
Title: | Feedback linearization and simultaneous stiffness-position control of robots with antagonistic actuated joints. | ||||||||||||||||||||||||
Authors: |
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Date: | 10 April 2007 | ||||||||||||||||||||||||
Journal or Publication Title: | Proceedings of ICRA | ||||||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||||||
Open Access: | Yes | ||||||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||||||||
Page Range: | pp. 4367-4372 | ||||||||||||||||||||||||
Publisher: | IEEE | ||||||||||||||||||||||||
Status: | Published | ||||||||||||||||||||||||
Keywords: | Antagonistic actuation, variable stiffness mechanisms, feedback linearization, nonlinear systems | ||||||||||||||||||||||||
Event Title: | International Conference on Robotics and Automation | ||||||||||||||||||||||||
Event Location: | Roma, Italy | ||||||||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||||||||
Event Start Date: | 10 April 2007 | ||||||||||||||||||||||||
Event End Date: | 14 April 2007 | ||||||||||||||||||||||||
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 DLR-Leichtbau-Roboter III (old) | ||||||||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||||||||||||||||||||
Deposited By: | Beinhofer, Gabriele | ||||||||||||||||||||||||
Deposited On: | 17 Jan 2008 | ||||||||||||||||||||||||
Last Modified: | 24 Apr 2024 19:16 |
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