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Learning Approach to the Active Compliance Control of Multi-Arm Robots Coupled through a Flexible Object

Albrichsfeld, Christian von ; Svinin, Mikhail ; Tolle, Henning (2021):
Learning Approach to the Active Compliance Control of Multi-Arm Robots Coupled through a Flexible Object. (Publisher's Version)
In: Proceedings of the third European Control Conference,
Darmstadt, European Control Conference (ECC 95), Rome, Italy, 05.-08.09.1995, ISBN 978-3-9524173-0-0,
DOI: 10.26083/tuprints-00019281,
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Item Type: Conference or Workshop Item
Origin: Secondary publication service
Status: Publisher's Version
Title: Learning Approach to the Active Compliance Control of Multi-Arm Robots Coupled through a Flexible Object
Language: English
Abstract:

This paper presents a quasi-static model and a control strategy for N robot arms cooperating through a concerning its compliant behaviour partly unknown flexible object. The control strategy is based on the position/force decomposition of an extended 6N-dimensional space. The strategy includes feedforward and feedback levels. The Feedback level is organized in the form of an active compliance control law. An AMS-based learning approach is used to accommodate the compliance behaviour of the system and utilized as an additional feedforward loop in the control system. The applicability of the control strategy is verified by simulation.

Title of Book: Proceedings of the third European Control Conference
Place of Publication: Darmstadt
Collation: 6 ungezählte Seiten
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: European Control Conference (ECC 95)
Event Location: Rome, Italy
Event Dates: 05.-08.09.1995
Date Deposited: 09 Sep 2021 13:07
Last Modified: 09 Sep 2021 13:07
DOI: 10.26083/tuprints-00019281
URN: urn:nbn:de:tuda-tuprints-192810
Additional Information:

Erscheint in: Volume 3, part 1

URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/19281
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