Lakatos, Dominic und Garofalo, Gianluca und Petit, Florian und Ott, Christian und Albu-Schäffer, Alin (2013) Modal Limit Cycle Control for Variable Stiffness Actuated Robots. In: IEEE International Conference on Robotics and Automation (ICRA), Seiten 4919-4926. International Conference on Robotics and Automation, 2013-05-06 - 2013-05-10, Karlsruhe. doi: 10.1109/icra.2013.6631282.
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Kurzfassung
This paper presents a control approach to stabilize limit cycle motions along a mechanical mode of variable stiffness actuated (VSA) robots. Thereby, first a PD controller with gravity and Coriolis/centrifugal compensation shapes a desired dynamics, which is decoupled in terms of modal coordinates. Then an asymptotically stable limit cycle is generated on the link side dynamics for a selected mode. Finally, the modal control approach first introduced for rigid robots is extended to the VSA case. This is done by a joint torque controller, which decouples the torque dynamics from the link side dynamics. Stability and convergence are proven for the dynamics resulting from each feedback control. Furthermore, the energy efficiency of the proposed approach is verified by simulation and experiments on the VSA robotic arm DLR Hand Arm System.
elib-URL des Eintrags: | https://elib.dlr.de/82682/ | ||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||
Titel: | Modal Limit Cycle Control for Variable Stiffness Actuated Robots | ||||||||||||||||||||||||
Autoren: |
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Datum: | Mai 2013 | ||||||||||||||||||||||||
Erschienen in: | IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||
DOI: | 10.1109/icra.2013.6631282 | ||||||||||||||||||||||||
Seitenbereich: | Seiten 4919-4926 | ||||||||||||||||||||||||
Name der Reihe: | Proceedings of IEEE International Conference on Robotics and Automation | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | limit cycles, modal decoupling, variable stiffness actuation, nonlinear control systems | ||||||||||||||||||||||||
Veranstaltungstitel: | International Conference on Robotics and Automation | ||||||||||||||||||||||||
Veranstaltungsort: | Karlsruhe | ||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
Veranstaltungsbeginn: | 6 Mai 2013 | ||||||||||||||||||||||||
Veranstaltungsende: | 10 Mai 2013 | ||||||||||||||||||||||||
Veranstalter : | IEEE/RAS | ||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Terrestrische Assistenz-Robotik (alt) | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Mechatronische Komponenten und Systeme | ||||||||||||||||||||||||
Hinterlegt von: | Lakatos, Dominic | ||||||||||||||||||||||||
Hinterlegt am: | 11 Dez 2013 16:45 | ||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 19:49 |
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