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Prioritized Multi-Task Compliance Control of Redundant Manipulators

Ott, Christian and Dietrich, Alexander and Albu-Schäffer, Alin (2015) Prioritized Multi-Task Compliance Control of Redundant Manipulators. Automatica, 53, pp. 416-423. Elsevier. doi: 10.1016/j.automatica.2015.01.015. ISSN 0005-1098.

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We propose a new approach for dynamic control of redundant manipulators to deal with multiple prioritized tasks at the same time by utilizing null space projection techniques. The compliance control law is based on a new representation of the dynamics wherein specific null space velocity coordinates are introduced. These allow to efficiently exploit the kinematic redundancy according to the task hierarchy and lead to a dynamics formulation with block-diagonal inertia matrix. The compensation of velocity-dependent coupling terms between the tasks by an additional passive feedback action facilitates a stability analysis for the complete hierarchy based on semi-definite Lyapunov functions. No external forces have to be measured. Finally, the performance of the control approach is evaluated in experiments on a torque-controlled robot.

Item URL in elib:https://elib.dlr.de/94493/
Document Type:Article
Title:Prioritized Multi-Task Compliance Control of Redundant Manipulators
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Dietrich, AlexanderUNSPECIFIEDhttps://orcid.org/0000-0003-3463-5074UNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074UNSPECIFIED
Date:March 2015
Journal or Publication Title:Automatica
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 416-423
Keywords:Hierarchical control, Redundant manipulators, Robotics, Stability analysis, Impedance control
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Terrestrial Assistance Robotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Ott, Dr. Christian
Deposited On:29 Apr 2015 15:57
Last Modified:28 Nov 2023 08:45

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