Ott, Christian and Nakamura, Yoshihiko (2009) Base Force/Torque Sensing for Position based artesian Impedance Control. In: Proceedings. IROS, International Conference on Intelligent Robots and Systems, 2009-10-11 - 2009-10-15, St. Louis, USA.
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Abstract
In this paper, a position based impedance controller (i.e. admittance controller) is designed by utilizing measurements of a force/torque sensor, which is mounted at the robot’s base. In contrast to conventional force/torque sensing at the end-effector, placing the sensor at the base allows to implement a compliant behavior of the robot not only with respect to forces acting on the end-effector but also with respect to forces acting on the robot’s structure. The resulting control problem is first analyzed in detail for the simplified one-degree-of-freedom case in terms of stability and passivity. Then, an extension to the Cartesian admittance control of a robot manipulator is discussed. Furthermore, it is shown how the steady state properties of the underlying position controller can be taken into account in the design of the outer admittance controller. Finally, a simulation study of the Cartesian admittance controller applied to a three-degrees-offreedom manipulator is presented.
Item URL in elib: | https://elib.dlr.de/62657/ | ||||||||||||
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Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||||
Title: | Base Force/Torque Sensing for Position based artesian Impedance Control | ||||||||||||
Authors: |
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Date: | 11 October 2009 | ||||||||||||
Journal or Publication Title: | Proceedings | ||||||||||||
Refereed publication: | Yes | ||||||||||||
Open Access: | Yes | ||||||||||||
Gold Open Access: | No | ||||||||||||
In SCOPUS: | No | ||||||||||||
In ISI Web of Science: | No | ||||||||||||
Status: | Published | ||||||||||||
Keywords: | Base Force, Torque Sensing, Impedance Control | ||||||||||||
Event Title: | IROS, International Conference on Intelligent Robots and Systems | ||||||||||||
Event Location: | St. Louis, USA | ||||||||||||
Event Type: | international Conference | ||||||||||||
Event Start Date: | 11 October 2009 | ||||||||||||
Event End Date: | 15 October 2009 | ||||||||||||
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 - Mechatronik und Dynamik (old) | ||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||||||||
Deposited By: | Beinhofer, Gabriele | ||||||||||||
Deposited On: | 14 Jan 2010 16:53 | ||||||||||||
Last Modified: | 24 Apr 2024 19:27 |
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