TY - GEN
T1 - A control strategy for operating unknown constrained mechanisms
AU - Lutscher, Ewald
AU - Lawitzky, Martin
AU - Cheng, Gordon
AU - Hirche, Sandra
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=77955829950&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509909
DO - 10.1109/ROBOT.2010.5509909
M3 - Conference contribution
AN - SCOPUS:77955829950
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 819
EP - 824
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -