State feedback damping control for a multi DOF variable stiffness robot arm

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2011, Pages 5561-5567

  Petit, Florian ^a   Albu Schäffer, Alin ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

ADVANCED CONTROL ALGORITHMS; DAMPING BEHAVIORS; DAMPING CONTROL; EIGEN MODES; ELASTIC JOINTS; FLEXIBLE JOINT ROBOTS; HAND-ARM SYSTEM; IN-CONTROL; INTRINSIC DAMPING; MULTI-DOF; MULTI-INPUT MULTI-OUTPUT SYSTEM; PLANT PROPERTIES; ROBOT ARMS; ROBOTIC JOINT; STORAGE AND RETRIEVALS; TASK EXECUTIONS; VARIABLE STIFFNESS;

ALGORITHMS; CONTROLLERS; DAMPING; ENERGY EFFICIENCY; MIMO SYSTEMS; ROBOTIC ARMS; ROBUSTNESS (CONTROL SYSTEMS); STATE FEEDBACK; STIFFNESS;

ROBOTICS;

EID: 84861583984     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2011.5980207     Document Type: Conference Paper

References (18)

1. S. Wolf and G. Hirzinger, "A new variable stiffness design: Matching requirements of the next robot generation," in Proc. IEEE Int. Conf. on Robotics and Automation, 2008.
2. B. Vanderborght, B. Verrelst, R. Van Ham, M. Van Damme, D. Lefeber, B. M. Y. Duran, and P. Beyl, "Exploiting natural dynamics to reduce energy consumption by controlling the compliance of soft actuators," Int. J. Rob. Res., vol. 25, no. 4, pp. 343-358, 2006.
3. S. Haddadin, A. Albu-Schffer, O. Eiberger, and G. Hirzinger, "New insights concerning intrinsic joint elasticity for safety," in Proc. IEEE Int. Conf. on Robotics and Automation, 2010.
4. J. W. Hurst, J. Chestnutt, and A. Rizzi, "An actuator with physically variable stiffness for highly dynamic legged locomotion," in Proc. IEEE Int. Conf. on Robotics and Automation, 2004.
5. R. Schiavi, G. Grioli, S. Sen, and A. Bicchi, "VSA-II: a novel prototype of variable stiffness actuator for safe and performing robots interacting with humans," in Proc. IEEE Int. Conf. on Robotics and Automation, 2008.
6. M. Laffranchi, N. G. Tsagarakis, and D. G. Caldwell, "A variable physical damping actuator (vpda) for compliant robotic joints," in Proc. IEEE Int. Conf. on Robotics and Automation, 2010.
7. M. G. Catalano, R. Schiavi, and A. Bicchi, "Mechanism design for variable stiffness actuation based on enumeration and analysis of performance," in Proc. IEEE Int. Conf. on Robotics and Automation, 2010.
8. O. Eiberger, S. Haddadin, M. Weis, A. Albu-Schäffer, and G. Hirzinger, "On joint design with intrinsic variable compliance: Derivation of the DLR QA-joint," in Proc. IEEE Int. Conf. on Robotics and Automation, 2010.
9. F. Petit, M. Chalon, W. Friedl, M. Grebenstein, A. Albu-Schffer, and G. Hirzinger, "Bidirectional antagonistic variable stiffness actuation: Analysis, design & implementation," in Proc. IEEE Int. Conf. on Robotics and Automation, 2010.
10. S. Wolf, O. Eiberger, and G. Hirzinger, "The DLR FSJ: Energy based design of variable stiffness joints," in Proc. IEEE Int. Conf. on Robotics and Automation, 2011.
11. A. Albu-Schäffer, S. Wolf, O. Eiberger, S. Haddadin, F. Petit, and M. Chalon, "Dynamic modelling and control of variable stiffness actuators," in Proc. IEEE Int. Conf. on Robotics and Automation, 2010.
12. S. A. Migliore, E. A. Brown, and S. P. DeWeerth, "Biologically inspired joint stiffness control," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005, pp. 4519-4524.
13. A. D. Luca and P. Lucibello, "A general algorithm for dynamic feedback linearization of robots with elastic joints," in Proc. IEEE Int. Conf. on Robotics and Automation, 1998.
14. M. Grebenstein, A. Albu-Schäffer, T. Bahls, M. Chalon, O. Eiberger, W. Friedl, R. Gruber, S. Haddadin, U. Hagn, R. Haslinger, H. Höppner, S. Jörg, M. Nickl, A. Nothhelfer, F. Petit, J. Reill, N. Seitz, T. Wimböck, S. Wolf, T. Wüsthoff, and G. Hirzinger, "The DLR Hand Arm System," in Proc. IEEE Int. Conf. on Robotics and Automation, 2011.
15. M. W. Spong, "Modeling and control of elastic joint robots." Transactions of the ASME: Journal of Dynamic Systems, Measurement, and Control 109, 310-319, 1987.
16. C. Ott, A. Albu-Schäfer, A. Kugi, and G. Hirzinger, "On the passivity based impedance control of flexible joint robots," IEEE Transactions on Robotics, vol. 24, no. 2, pp. 416-429, 2008.
17. A. Bicchi and G. Tonietti, "Fast and soft arm tactics: Dealing with the safety-performance trade-off in robot arms design and control," IEEE Robotics and Automation Magazine, vol. 11, pp. 22-33, 2004.
18. G. Palli, C. Melchiorri, and A. D. Luca, "On the feedback linearization of robots with variable joint stiffness," in Proc. IEEE Int. Conf. on Robotics and Automation, 2008.