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Impedence Control for Variable Stiffness Mechanisms with Nonlinear Joint Coupling

Wimböck, Thomas and Ott, Christian and Albu-Schäffer, Alin and Kugi, Andreas and Hirzinger, Gerd (2008) Impedence Control for Variable Stiffness Mechanisms with Nonlinear Joint Coupling. In: Proceedings, pp. 3796-3803. International Conference on Intelligent Robots and Systems, IROS, 2008-09-22 - 2008-09-26, Nice (Frankreich).

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Abstract

The current discussion on physical human robot interaction and the related safety aspects, but also the interest of neuro-scientists to validate their hypotheses on human motor skills with bio-mimetic robots, led to a recent revival of tendondriven robots. In this paper, the modeling of tendon-driven elastic systems with nonlinear couplings is recapitulated. A control law is developed that takes the desired joint position and stiffness as input. Therefore, desired motor positions are determined that are commanded to an impedance controller. We give a physical interpretation of the controller. More importantly, a static decoupling of the joint motion and the stiffness variation is given. The combination of active (controller) and passive (mechanical) stiffness is investigated. The controller stiffness is designed according to the desired overall stiffness. A damping design of the impedance controller is included in these considerations. The controller performance is evaluated in simulation.

Item URL in elib:https://elib.dlr.de/55819/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Impedence Control for Variable Stiffness Mechanisms with Nonlinear Joint Coupling
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Wimböck, ThomasUNSPECIFIEDUNSPECIFIED
Ott, ChristianUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDUNSPECIFIED
Kugi, AndreasUNSPECIFIEDUNSPECIFIED
Hirzinger, GerdUNSPECIFIEDUNSPECIFIED
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. 3796-3803
Status:Published
Keywords:-
Event Title:International Conference on Intelligent Robots and Systems, IROS
Event Location:Nice (Frankreich)
Event Type:international Conference
Event Dates:2008-09-22 - 2008-09-26
Organizer:IEEE/RSJ
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 - Mechatronik und Dynamik (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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