TY - GEN
T1 - Multi-objective compliance control of redundant manipulators
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
AU - Dietrich, Alexander
AU - Ott, Christian
AU - Albu-Schaffer, Alin
PY - 2013
Y1 - 2013
N2 - Robots with a large number of actuated degrees of freedom are usually redundant w.r.t. a given task. That kinematic redundancy can be utilized to execute additional tasks simultaneously, e. g. via null space projection techniques. We introduce a new representation of hierarchical robot dynamics which are based on a set of particular null space velocities. Dynamic consistency is preserved, and strict compliance with the order of priority is ensured at all times due to a power-conserving cancellation of coupling terms by active control. No external force measurements have to be performed. We show asymptotic stability of the generic closed-loop system with an arbitrary number of hierarchy levels. Several simulations confirm our results.
AB - Robots with a large number of actuated degrees of freedom are usually redundant w.r.t. a given task. That kinematic redundancy can be utilized to execute additional tasks simultaneously, e. g. via null space projection techniques. We introduce a new representation of hierarchical robot dynamics which are based on a set of particular null space velocities. Dynamic consistency is preserved, and strict compliance with the order of priority is ensured at all times due to a power-conserving cancellation of coupling terms by active control. No external force measurements have to be performed. We show asymptotic stability of the generic closed-loop system with an arbitrary number of hierarchy levels. Several simulations confirm our results.
UR - http://www.scopus.com/inward/record.url?scp=84893740510&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696787
DO - 10.1109/IROS.2013.6696787
M3 - Conference contribution
AN - SCOPUS:84893740510
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3043
EP - 3050
BT - IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -