Dietrich, Alexander und Ott, Christian und Albu-Schäffer, Alin (2013) Multi-Objective Compliance Control of Redundant Manipulators: Hierarchy, Control, and Stability. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Seiten 3043-3050. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013-11-03 - 2013-11-08, Tokyo, Japan. doi: 10.1109/iros.2013.6696787.
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Offizielle URL: http://ieeexplore.ieee.org/
Kurzfassung
Robots with a large number of actuated degrees of freedom are usually redundant w.r.t. a given task. That kinematic redundancy can be utilized to execute additional tasks simultaneously, e.g. via null space projection techniques. We introduce a new representation of hierarchical robot dynamics which are based on a set of particular null space velocities. Dynamic consistency is preserved, and strict compliance with the order of priority is ensured at all times due to a power-conserving cancellation of coupling terms by active control. No external force measurements have to be performed. We show asymptotic stability of the generic closed-loop system with an arbitrary number of hierarchy levels. Several simulations confirm our results.
elib-URL des Eintrags: | https://elib.dlr.de/85202/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | Multi-Objective Compliance Control of Redundant Manipulators: Hierarchy, Control, and Stability | ||||||||||||||||
Autoren: |
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Datum: | November 2013 | ||||||||||||||||
Erschienen in: | IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
DOI: | 10.1109/iros.2013.6696787 | ||||||||||||||||
Seitenbereich: | Seiten 3043-3050 | ||||||||||||||||
Name der Reihe: | Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Robot Control, Hierarchy, Stability Analysis, Impedance Control, Compliance Control | ||||||||||||||||
Veranstaltungstitel: | 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||
Veranstaltungsort: | Tokyo, Japan | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 3 November 2013 | ||||||||||||||||
Veranstaltungsende: | 8 November 2013 | ||||||||||||||||
Veranstalter : | IEEE/RSJ | ||||||||||||||||
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) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||
Hinterlegt von: | Dietrich, Dr.-Ing. Alexander | ||||||||||||||||
Hinterlegt am: | 07 Jan 2014 14:03 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 19:51 |
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