TY - GEN
T1 - A model-free approach to vibration suppression for intrinsically elastic robots
AU - Petit, Florian
AU - Ott, Christian
AU - Albu-Schäffer, Alin
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - Robots with joint elasticity find increasing interest in many research areas. A common design goal is to achieve as little mechanical joint damping as possible. To still achieve system damping often control systems are used. Here, we present a model-free approach to achieve damping via exploiting the kinetic to potential energy transformation process of the robot mass and the joint elasticity. The controller acts in an energetically passive way and is applicable to multi-joint systems. The theoretical findings and simulations are substantiated by experiments on the DLR Hand Arm System.
AB - Robots with joint elasticity find increasing interest in many research areas. A common design goal is to achieve as little mechanical joint damping as possible. To still achieve system damping often control systems are used. Here, we present a model-free approach to achieve damping via exploiting the kinetic to potential energy transformation process of the robot mass and the joint elasticity. The controller acts in an energetically passive way and is applicable to multi-joint systems. The theoretical findings and simulations are substantiated by experiments on the DLR Hand Arm System.
UR - http://www.scopus.com/inward/record.url?scp=84929224735&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907159
DO - 10.1109/ICRA.2014.6907159
M3 - Conference contribution
AN - SCOPUS:84929224735
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2176
EP - 2182
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -