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. |
| Book Title: | 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 (from 01.08.2022 renamed Control Methods and Intelligent Systems) |
| 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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