Albrichsfeld, Christian von ; Tolle, Henning (2021)
Experimental Validation of a Self-Adjusting Active Compliance Controller for Multiple Robots Handling an Object.
Space robotics (SPRO'98). St-Hubert, Quebec, Canada (19.10.1998-22.10.1998)
doi: 10.26083/tuprints-00019110
Conference or Workshop Item, Secondary publication, Publisher's Version
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| Item Type: | Conference or Workshop Item |
|---|---|
| Type of entry: | Secondary publication |
| Title: | Experimental Validation of a Self-Adjusting Active Compliance Controller for Multiple Robots Handling an Object |
| Language: | English |
| Date: | 2021 |
| Place of Publication: | Darmstadt |
| Year of primary publication: | 1998 |
| Publisher: | Elsevier |
| Event Title: | Space robotics (SPRO'98) |
| Event Location: | St-Hubert, Quebec, Canada |
| Event Dates: | 19.10.1998-22.10.1998 |
| DOI: | 10.26083/tuprints-00019110 |
| Corresponding Links: | |
| Origin: | Secondary publication service |
| 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. |
| Status: | Publisher's Version |
| 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 |
| Classification DDC: | 600 Technology, medicine, applied sciences > 620 Engineering and machine engineering |
| Divisions: | 18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Robotics (from 01.08.2022 renamed Control Methods and Intelligent Systems) |
| Date Deposited: | 16 Jul 2021 12:11 |
| Last Modified: | 09 Aug 2023 08:38 |
| URI: | https://tuprints.ulb.tu-darmstadt.de/id/eprint/19110 |
| PPN: | 483259004 |
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