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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/ | |||||||||
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| Document Type: | Conference or Workshop Item (Speech) | |||||||||
| Title: | A Comparison of Braking Strategies for Elastic Joint Robots | |||||||||
| Authors: |
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| 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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