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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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Abstract

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
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Dietrich, Alexanderalexander.dietrich (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:March 2015
Journal or Publication Title:Automatica
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:53
DOI :10.1016/j.automatica.2015.01.015
Page Range:pp. 416-423
Publisher:Elsevier
ISSN:0005-1098
Status:Published
Keywords:Hierarchical control, Redundant manipulators, Robotics, Stability analysis, Impedance control
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: Ott, Dr. Christian
Deposited On:29 Apr 2015 15:57
Last Modified:29 Apr 2015 15:57

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