Passivity of virtual free-floating dynamics rendered on robotic facilities

Marco De Stefano; Jordi Artigas; Wolfgang Rackl; Alin Albu-Schaeffer

doi:10.1109/ICRA.2015.7139267

Passivity of virtual free-floating dynamics rendered on robotic facilities

Marco De Stefano, Jordi Artigas, Wolfgang Rackl, Alin Albu-Schaeffer

Informatics 23 - Chair of Sensor-based Robotic Systems and Intelligent Assistance Systems

Deutsches Zentrum für Luft- und Raumfahrt (DLR)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

16 Scopus citations

Abstract

This paper describes a control strategy to achieve high fidelity dynamics simulation rendered on admittance controlled robotic facilities. It explores the reasons for an increasing energy found in the virtual dynamics of a free-floating satellite rendered on a six degree of freedom robot, which can lead the system to become unstable and proposes a method to cope with it. The proposed method identifies the sources of intrinsic instability provoked by time delays that are found in the computational loop of the rendered dynamics and counteracts their destabilizing effects using the passivity criteria. The performance of the system and the benefits of the method are shown in simulations and are verified experimentally.

Original language	English
Title of host publication	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	781-788
Number of pages	8
Edition	June
ISBN (Electronic)	9781479969234
DOIs	https://doi.org/10.1109/ICRA.2015.7139267
State	Published - 29 Jun 2015
Event	2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States Duration: 26 May 2015 → 30 May 2015

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Number	June
Volume	2015-June
ISSN (Print)	1050-4729

Conference

Conference	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Country/Territory	United States
City	Seattle
Period	26/05/15 → 30/05/15

Access to Document

10.1109/ICRA.2015.7139267

Cite this

De Stefano, M., Artigas, J., Rackl, W., & Albu-Schaeffer, A. (2015). Passivity of virtual free-floating dynamics rendered on robotic facilities. In 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 (June ed., pp. 781-788). Article 7139267 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2015-June, No. June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2015.7139267

De Stefano, Marco ; Artigas, Jordi ; Rackl, Wolfgang et al. / Passivity of virtual free-floating dynamics rendered on robotic facilities. 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 781-788 (Proceedings - IEEE International Conference on Robotics and Automation; June).

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abstract = "This paper describes a control strategy to achieve high fidelity dynamics simulation rendered on admittance controlled robotic facilities. It explores the reasons for an increasing energy found in the virtual dynamics of a free-floating satellite rendered on a six degree of freedom robot, which can lead the system to become unstable and proposes a method to cope with it. The proposed method identifies the sources of intrinsic instability provoked by time delays that are found in the computational loop of the rendered dynamics and counteracts their destabilizing effects using the passivity criteria. The performance of the system and the benefits of the method are shown in simulations and are verified experimentally.",

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De Stefano, M, Artigas, J, Rackl, W & Albu-Schaeffer, A 2015, Passivity of virtual free-floating dynamics rendered on robotic facilities. in 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June edn, 7139267, Proceedings - IEEE International Conference on Robotics and Automation, no. June, vol. 2015-June, Institute of Electrical and Electronics Engineers Inc., pp. 781-788, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, United States, 26/05/15. https://doi.org/10.1109/ICRA.2015.7139267

Passivity of virtual free-floating dynamics rendered on robotic facilities. / De Stefano, Marco; Artigas, Jordi; Rackl, Wolfgang et al.
2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 781-788 7139267 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2015-June, No. June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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De Stefano M, Artigas J, Rackl W, Albu-Schaeffer A. Passivity of virtual free-floating dynamics rendered on robotic facilities. In 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June ed. Institute of Electrical and Electronics Engineers Inc. 2015. p. 781-788. 7139267. (Proceedings - IEEE International Conference on Robotics and Automation; June). doi: 10.1109/ICRA.2015.7139267

Passivity of virtual free-floating dynamics rendered on robotic facilities

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