Multi-objective compliance control of redundant manipulators: Hierarchy, control, and stability

Alexander Dietrich, Christian Ott, Alin Albu-Schaffer

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

45 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages3043-3050
Number of pages8
DOIs
StatePublished - 2013
Externally publishedYes
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: 3 Nov 20138 Nov 2013

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Country/TerritoryJapan
CityTokyo
Period3/11/138/11/13

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