elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Multi-Objective Compliance Control of Redundant Manipulators: Hierarchy, Control, and Stability

Dietrich, Alexander and Ott, Christian and 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, pp. 3043-3050. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 03.-08. November 2013, Tokyo, Japan.

[img]
Preview
PDF
1MB

Official URL: http://ieeexplore.ieee.org/

Abstract

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.

Item URL in elib:https://elib.dlr.de/85202/
Document Type:Conference or Workshop Item (Speech)
Title:Multi-Objective Compliance Control of Redundant Manipulators: Hierarchy, Control, and Stability
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Dietrich, Alexanderalexander.dietrich (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:November 2013
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 3043-3050
Series Name:Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Status:Published
Keywords:Robot Control, Hierarchy, Stability Analysis, Impedance Control, Compliance Control
Event Title:2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Tokyo, Japan
Event Type:international Conference
Event Dates:03.-08. November 2013
Organizer:IEEE/RSJ
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Dietrich, Dr.-Ing. Alexander
Deposited On:07 Jan 2014 14:03
Last Modified:31 Jul 2019 19:42

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.