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Experimental Validation of a Self-Adjusting Active Compliance Controller for Multiple Robots Handling an Object

Albrichsfeld, Christian von ; Tolle, Henning (2021):
Experimental Validation of a Self-Adjusting Active Compliance Controller for Multiple Robots Handling an Object. (Publisher's Version)
pp. 59-64, Darmstadt, Elsevier, Space robotics (SPRO'98), St-Hubert, Quebec, Canada, 19.-22.10.1998, DOI: 10.26083/tuprints-00019110,
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Item Type: Conference or Workshop Item
Origin: Secondary publication service
Status: Publisher's Version
Title: Experimental Validation of a Self-Adjusting Active Compliance Controller for Multiple Robots Handling an Object
Language: English
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.

Place of Publication: Darmstadt
Publisher: Elsevier
Classification DDC: 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften
Divisions: 18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Robotics
Event Title: Space robotics (SPRO'98)
Event Location: St-Hubert, Quebec, Canada
Event Dates: 19.-22.10.1998
Date Deposited: 16 Jul 2021 12:11
Last Modified: 16 Jul 2021 12:11
DOI: 10.26083/tuprints-00019110
Corresponding Links:
URN: urn:nbn:de:tuda-tuprints-191106
Additional Information:

Erscheint auch in: IFAC Proceedings Volumes, Volume 31, Issue 33, pages 59-64, ISSN: 1474-6670

URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/19110
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