Kamel, Amine and Lange, Friedrich and Hirzinger, Gerd (2008) New Aspects of Input Shaping Control to Damp Oscillations of a Compliant Force Sensor. In: Proceedings, pp. 2629-2635. IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA (USA).
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Abstract
Compliance in robot mounted force/torque sensors is useful for soft mating of parts. However it generates nearly undamped oscillations when moving the end-effector in free space. In this paper, input shaping control is investigated to damp such unwanted flexible modes. We present a new design technique that creates long impulse sequences to adapt input shaping to systems with long sampling period and to compensate the resulting time delay. This makes the method feasible for industrial robots. In addition to the conventional input shaping which causes oscillations to stop only after applying the last impulse, we also minimize the quadratic control error until this time step is reached.
Item URL in elib: | https://elib.dlr.de/55744/ | ||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||||||||
Title: | New Aspects of Input Shaping Control to Damp Oscillations of a Compliant Force Sensor | ||||||||||||||||
Authors: |
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Date: | 2008 | ||||||||||||||||
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. 2629-2635 | ||||||||||||||||
Status: | Published | ||||||||||||||||
Keywords: | - | ||||||||||||||||
Event Title: | IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||
Event Location: | Pasadena, CA (USA) | ||||||||||||||||
Event Type: | international Conference | ||||||||||||||||
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 - Weiterentwicklung Robotik - Telerobotik und Autonomie (old) | ||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||||||||||||
Deposited By: | Klauer, Monika | ||||||||||||||||
Deposited On: | 24 Oct 2008 | ||||||||||||||||
Last Modified: | 31 Jul 2019 19:23 |
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