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Passivity of Virtual Free-Floating Dynamics Rendered on Robotic Facilities

De Stefano, Marco and Artigas, Jordi and Rackl, Wolfang and Albu-Schäffer, Alin (2015) Passivity of Virtual Free-Floating Dynamics Rendered on Robotic Facilities. In: IEEE International Conference on Robotics and Automation (ICRA). 2015 IEEE International Conference on Robotics and Automation (ICRA), 26-30 May 2015, Seattle, Washington, USA.

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Abstract

This paper describes a control strategy to achieve high fidelity dynamics simulation rendered on admittance controlled robotic facilities. It explores the reasons for an increasing energy found in the virtual dynamics of a free-floating satellite rendered on a six degree of freedom robot, which can lead the system to become unstable and proposes a method to cope with it. The proposed method identifies the sources of intrinsic instability provoked by time delays that are found in the computational loop of the rendered dynamics and counteracts their destabilizing effects using the passivity criteria. The performance of the system and the benefits of the method are shown in simulations and are verified experimentally.

Item URL in elib:https://elib.dlr.de/96747/
Document Type:Conference or Workshop Item (Speech)
Title:Passivity of Virtual Free-Floating Dynamics Rendered on Robotic Facilities
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
De Stefano, Marcomarco.destefano (at) dlr.deUNSPECIFIED
Artigas, Jordijordi.artigas (at) DLR.deUNSPECIFIED
Rackl, WolfangWolfgang.Rackl (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) dlr.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:Stability, robotic facilities, satellite dynamics.
Event Title:2015 IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Seattle, Washington, USA
Event Type:international Conference
Event Dates:26-30 May 2015
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 Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: De Stefano, Marco
Deposited On:22 Jun 2015 12:03
Last Modified:31 Jul 2019 19:53

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