A control strategy for operating unknown constrained mechanisms

Ewald Lutscher, Martin Lawitzky, Gordon Cheng, Sandra Hirche

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

22 Zitate (Scopus)

Abstract

This work aims at the development of a ver-satile control strategy for operating unknown mechanically constrained devices such as drawers or doors. Few assumptions on the device's shape as well as the utilized hardware are required. Our approach is based on an on-line estimation of the constraint manifold which serves as a reference input for an admittance-type controller providing the compliance required. The direction estimation is obtained from the velocity signal in task space. An on-line adaptation of the admittance controller according to the estimated moving direction reduces contact forces. The functionality of the control strategy is demonstrated on a mobile manipulator in a kitchen environment.

OriginalspracheEnglisch
Titel2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Seiten819-824
Seitenumfang6
DOIs
PublikationsstatusVeröffentlicht - 2010
Veranstaltung2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, USA/Vereinigte Staaten
Dauer: 3 Mai 20107 Mai 2010

Publikationsreihe

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Konferenz

Konferenz2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Land/GebietUSA/Vereinigte Staaten
OrtAnchorage, AK
Zeitraum3/05/107/05/10

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