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A Comparison of Braking Strategies for Elastic Joint Robots

Mansfeld, Nico and Haddadin, Sami (2015) A Comparison of Braking Strategies for Elastic Joint Robots. In: IEEE International Conference on Robotics and Automation (ICRA). International Conference on Robotics and Automation, 26.-30. Mai 205, Seattle, USA.

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Abstract

It has recently been shown that intrinsically elastic robots are capable of outperforming rigid robots in terms of peak velocity by making systematic use of energy storage and release. Certainly, high link side velocities are beneficial for performance, however, they also increase the probability of self damage or human injury in case of a collision. To ensure the physical integrity of both human and robot, it is therefore crucial to avoid potentially dangerous collisions and react in a compliant manner if unwanted contact has occurred or may occur unforeseeable. In this paper, we consider the most intuitive collision anticipation and pre-reaction scheme, namely stopping an elastic robot, if possible in minimum time. For 1-DOF elastic joints with limited elastic deflection we extend existing model-based and model-free controllers and compare their performance. Furthermore, we analyze the braking trajectory that is achieved with the different strategies. The 1-DOF solution is extended to the double pendulum case, where we show that feasible estimates for maximum and final position can be obtained at the very first instant of braking.

Item URL in elib:https://elib.dlr.de/96707/
Document Type:Conference or Workshop Item (Speech)
Title:A Comparison of Braking Strategies for Elastic Joint Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Mansfeld, Niconico.mansfeld (at) dlr.deUNSPECIFIED
Haddadin, Samisami.haddadin (at) irt.uni-hannover.deUNSPECIFIED
Date:2015
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:Elastic Robot, Braking
Event Title:International Conference on Robotics and Automation
Event Location:Seattle, USA
Event Type:international Conference
Event Dates:26.-30. Mai 205
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: Mansfeld, Nico
Deposited On:17 Jun 2015 15:52
Last Modified:31 Jul 2019 19:53

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