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Petit, Florian und Albu-Schäffer, Alin (2011) Cartesian Impedance Control For A Variable Stiffness Robot Arm. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS 11, San Francisco, CA, USA.
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Kurzfassung
The variable stiffness actuation (VSA) technology has been recently developed and applied in robotic arms. Mechanism robustness, high peak torque and velocity, and stiffness adjustment flexibility are key benefits of VSA joints. However, the achievable Cartesian stiffness by uncoupled VSA joints is limited. Therefore we suggest and analyze the use of an active impedance controller in combination with the passive joints to further increase the stiffness range. An algorithm to optimize the passive and active Cartesian stiffness is proposed to achieve a desired Cartesian stiffness as precise as possible. The algorithm was implemented and tested on the VSA robot DLR Hand Arm System. Experimental results and measurements of the active/passive impedance algorithm are shown.
| Dokumentart: | Konferenzbeitrag (Paper) | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Titel: | Cartesian Impedance Control For A Variable Stiffness Robot Arm | |||||||||
| Autoren: |
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| Datum: | 2011 | |||||||||
| Erschienen in: | IEEE/RSJ International Conference on Intelligent Robots and Systems | |||||||||
| In Open Access: | Nein | |||||||||
| In SCOPUS: | Nein | |||||||||
| In ISI Web of Science: | Nein | |||||||||
| Status: | veröffentlicht | |||||||||
| Stichwörter: | Variable Stiffness Actuation, Cartesian Impedance Control, Multi Degree of Freedom | |||||||||
| Veranstaltungstitel: | IROS 11 | |||||||||
| Veranstaltungsort: | San Francisco, CA, USA | |||||||||
| Veranstaltungsart: | internationale Konferenz | |||||||||
| 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 - RMC - Mechatronik und Telerobotik (alt) | |||||||||
| Standort: | Oberpfaffenhofen | |||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) > Robotersysteme | |||||||||
| Hinterlegt von: | Petit, Florian | |||||||||
| Hinterlegt am: | 10 Jan 2012 08:49 | |||||||||
| Letzte Änderung: | 10 Jan 2012 08:49 |
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