Albrichsfeld, Christian von ; Tolle, Henning (1998)
Experimental Validation of a Self-Adjusting Active Compliance Controller for Multiple Robots Handling an Object.
Space robotics (SPRO'98). St-Hubert, Quebec, Canada (19.-22.10.1998)
doi: 10.1016/S1474-6670(17)38387-8
Konferenzveröffentlichung, Bibliographie
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Kurzbeschreibung (Abstract)
This paper presents the experimental validation of a self-adjusting active compliance controller for n robots handling a concerning its compliant behaviour partly unknown flexible object. The control strategy is based on the decomposition of the 6n-dimensional position/force space and includes a feedforward and feedback level. For adjusting the controller to the in general unknown flexible behaviour, which is the main problem of the controller design, a quasi-static model of the system is derived for different contact cases of the object and a procedure is presented, which by use of this model is capable of determining the compliance of the considered system and therefore of adjusting the controller. Experiments with two pumatype robots show the applicability of the self-adjusting control strategy.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 1998 |
| Autor(en): | Albrichsfeld, Christian von ; Tolle, Henning |
| Art des Eintrags: | Bibliographie |
| Titel: | Experimental Validation of a Self-Adjusting Active Compliance Controller for Multiple Robots Handling an Object |
| Sprache: | Englisch |
| Publikationsjahr: | 1998 |
| Ort: | Darmstadt |
| Verlag: | Elsevier |
| Veranstaltungstitel: | Space robotics (SPRO'98) |
| Veranstaltungsort: | St-Hubert, Quebec, Canada |
| Veranstaltungsdatum: | 19.-22.10.1998 |
| DOI: | 10.1016/S1474-6670(17)38387-8 |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | This paper presents the experimental validation of a self-adjusting active compliance controller for n robots handling a concerning its compliant behaviour partly unknown flexible object. The control strategy is based on the decomposition of the 6n-dimensional position/force space and includes a feedforward and feedback level. For adjusting the controller to the in general unknown flexible behaviour, which is the main problem of the controller design, a quasi-static model of the system is derived for different contact cases of the object and a procedure is presented, which by use of this model is capable of determining the compliance of the considered system and therefore of adjusting the controller. Experiments with two pumatype robots show the applicability of the self-adjusting control strategy. |
| Zusätzliche Informationen: | Erscheint auch in: IFAC Proceedings Volumes, Volume 31, Issue 33, pages 59-64, ISSN: 1474-6670 |
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften und Maschinenbau |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik > Regelungsmethoden und Robotik (ab 01.08.2022 umbenannt in Regelungsmethoden und Intelligente Systeme) |
| Hinterlegungsdatum: | 02 Aug 2024 12:35 |
| Letzte Änderung: | 02 Aug 2024 12:35 |
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Experimental Validation of a Self-Adjusting Active Compliance Controller for Multiple Robots Handling an Object. (deposited 16 Jul 2021 12:11)
- Experimental Validation of a Self-Adjusting Active Compliance Controller for Multiple Robots Handling an Object. (deposited 02 Aug 2024 12:35) [Gegenwärtig angezeigt]
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