Cartesian impedance control of redundant and flexible-joint robots:
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis/Dissertation Book |
| Language: | English |
| Published: |
Berlin ; Heidelberg
Springer
2010
|
| Series: | Springer tracts in advanced robotics
volume 49 |
| Subjects: | |
| Links: | http://d-nb.info/988625695/04 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=031430864&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| Physical Description: | XIV, 190 Seiten Illustrationen 24 cm |
| ISBN: | 9783642088735 |
Staff View
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| 100 | 1 | |a Ott, Christian |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Cartesian impedance control of redundant and flexible-joint robots |c Christian Ott |
| 264 | 1 | |a Berlin ; Heidelberg |b Springer |c 2010 | |
| 300 | |a XIV, 190 Seiten |b Illustrationen |c 24 cm | ||
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| 490 | 1 | |a Springer tracts in advanced robotics |v volume 49 | |
| 502 | |b Dissertation |c Universität Saarbrücken |d 2005 | ||
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Record in the Search Index
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|---|---|
| DE-BY-TUM_katkey | 2417760 |
| DE-BY-TUM_location | 01 |
| DE-BY-TUM_media_number | 040008860902 |
| _version_ | 1821935968902447104 |
| adam_text | CONTENTS
1 INTRODUCTIO
N
1
1.1 SERVICE ROBOTICS APPLICATIONS 1
1.2 TH
E DLR LIGHTWEIGHT ROBOTS 2
1.3 COMPLIANT MOTION CONTROL 4
1.3.1 IMPEDANCE CONTROL 4
1.3.2 ADMITTANCE CONTROL 5
1.3.3 CONSERVATIVE CONGRUENCE TRANSFORMATION 6
1.4 CONTROL OF REDUNDANT ROBOTS 6
1.5 CONTROL OF ROBOT
S WITH FLEXIBLE JOINT
S 7
1.6 OVERVIEW 8
2 MODELIN
G O
F FLEXIBL
E JOIN
T ROBOT
S
13
2.1 ROBOT KINEMATICS IN A NUTSHELL 13
2.1.1 RIGID BODY MOTION 14
2.1.2 FORWARD KINEMATICS 16
2.2 DYNAMICAL MODEL OF A FLEXIBLE JOINT ROBOT 17
2.2.1 MODELING ASSUMPTIONS FOR TH
E
COMPLETE MODEL
17
2.2.2 DERIVATION OF TH
E
COMPLETE MODEL
18
2.2.3 THE
REDUCED MODEL
24
2.2.4 PROPERTIE
S OF TH
E DYNAMICAL MODEL 25
2.2.5 SOME REMARKS CONCERNING FRICTION 26
2.3 SUMMARY 27
3 CARTESIA
N IMPEDANC
E CONTROL
: TH
E RIGI
D BOD
Y CAS
E
29
3.1 COMPLETE DECOUPLING 29
3.1.1 TASK FORMULATION 30
3.1.2 ROBOT MODEL IN TASK COORDINATES 31
3.1.3 CLASSICAL IMPEDANCE CONTROLLER 34
3.2 AVOIDANCE OF INERTI
A SHAPING 34
3.3 DESIGN OF TH
E DAMPING MATRIX 36
GESCANNT DURCH
BIBLIOGRAFISCHE INFORMATIONEN
HTTP://D-NB.INFO/988625695
DIGITALISIERT DURCH
XII CONTENTS
3.4 SINGULARITY TREATMEN
T 38
3.5 REMARK
S ON TH
E STIFFNESS IMPLEMENTATION 40
3.5.1 TRANSLATIONA
L STIFFNESS 41
3.5.2 ROTATIONA
L STIFFNESS 41
3.5.3 CONSEQUENCES FOR TH
E CLOSED LOOP DYNAMICS 42
3.6 SUMMARY 4
3
4 NULLSPAC
E STIFFNES
S
45
4.1 COMPUTATIO
N OF TH
E NULLSPACE BASE MATRI
X 46
4.1.1 TH
E GENERAL CASE 46
4.1.2 TH
E CASE OF A ONE-DIMENSIONAL NULLSPACE 47
4.2 PROJECTIO
N BASED APPROACHES 48
4.3 TASK SPACE AUGMENTATIO
N METHOD 52
4.4 JOINT SPACE DECOMPOSITION METHOD 55
4.4.1 CONTROLLER DESIGN 57
4.4.2 STABILITY ANALYSIS 59
4.5 SUMMARY 62
5 TH
E SINGULA
R PERTURBATIO
N APPROAC
H
65
5.1 SINGULAR PERTURBATIO
N THEORY 65
5.2 SINGULAR PERTURBATIO
N MODEL OF A FLEXIBLE JOIN
T ROBOT 68
5.2.1 TH
E QUASI-STEADY STAT
E MODEL 70
5.2.2 TH
E BOUNDARY LAYER SYSTEM 70
5.3 CONTROLLER DESIGN 70
5.4 MODIFIED CONTROLLER DESIGN 72
5.4.1 TH
E MODIFIED QUASI-STEADY STAT
E SYSTEM 73
5.4.2 TH
E MODIFIED BOUNDAR
Y LAYER SYSTEM 73
5.4.3 DESIGN OF TH
E CARTESIA
N IMPEDANCE CONTROLLER 74
5.5 SUMMARY 75
6 CONTROLLE
R DESIG
N BASE
D O
N TH
E CASCADE
D STRUCTUR
E
77
6.1 DECOUPLING BASED APPROACH 77
6.1.1 CONTROL THEOR
Y FOR CASCADED SYSTEMS 77
6.1.2 DECOUPLING OF TH
E TORQUE DYNAMICS 79
6.1.3 IMPEDANCE CONTROLLER DESIGN 80
6.1.4 STABILITY ANALYSIS 82
6.1.5 CONTROLLER DISCUSSION 85
6.2 BACKSTEPPING BASED APPROACH 86
6.2.1 BACKSTEPPING DESIGN PROCEDUR
E 86
6.2.2 APPLICATION T
O TH
E FLEXIBLE JOIN
T MODEL 88
6.2.3 CONTROLLER DISCUSSION 90
6.3 SUMMARY 91
CONTENTS XIII
7 A PASSIVIT
Y BASE
D APPROAC
H
93
7.1 DESIGN IDEA 94
7.2 APPLICATION T
O TH
E FLEXIBLE JOINT MODEL 96
7.2.1 GENERALIZATION T
O CARTESIAN COORDINATES 96
7.3 GRAVITY COMPENSATION 97
7.3.1 ON TH
E BOUNDEDNESS OF TH
E GRAVITY HESSIAN 97
7.3.2 CONSTRUCTION OF TH
E GRAVITY COMPENSATION TERM 100
7.3.3 DERIVATION OF TH
E GRAVITY COMPENSATION POTENTIA
L 103
7.4 ANALYSIS 104
7.4.1 PASSIVITY 104
7.4.2 STABILITY 106
7.4.3 CONTROLLER DISCUSSION 108
7.5 EXAC
T STIFFNESS DESIGN 109
7.5.1 DESIGN OF AN EXACT JOINT LEVEL STIFFNESS 109
7.5.2 DESIGN OF AN EXACT CARTESIAN STIFFNESS 109
7.6 FURTHE
R GENERALIZATIONS 112
7.6.1 INCLUDING JOINT DAMPING 113
7.6.2 GENERALIZATION T
O FUELL STAT
E FEEDBACK 114
7.6.3 ON TH
E FILTERING OF TH
E VELOCITIES 114
7.6.4 INERTIA SHAPING 115
7.7 TRACKING 115
7.7.1 THE GRAVITY FREE CASE 116
7.7.2 INCLUDING GRAVITY 118
7.7.3 CONTROLLER DISCUSSION 118
7.8 RELATION T
O OTHE
R METHODS 119
7.8.1 COMPARISON T
O TH
E SINGULAR PERTURBATIO
N CONTROLLER ...
. 119
7.8.2 COMPARISON T
O TH
E CONTROLLER FROM ALBU-SCHAEFFER 120
7.8.3 RELATION T
O TH
E IDA-PBC AND TH
E METHOD OF
CONTROLLED LAGRANGIANS 120
7.9 SUMMARY 120
8 EVALUATIO
N
123
8.1 SIMULATION RESULTS 123
8.1.1 SINGULAR PERTURBATIO
N BASED CONTROLLER 125
. 8.1.2 DECOUPLING BASED CONTROLLER 125
8.1.3 BACKSTEPPING BASED CONTROLLER 128
8.1.4 PASSIVITY BASED CONTROLLER 130
8.1.5 ROBUSTNESS 131
8.2 EXPERIMENTS WITH TH
E DLR-LIGHTWEIGHT-ROBOT-II 137
8.2.1 SINGULAR PERTURBATIO
N BASED CONTROLLER 137
8.2.2 PASSIVITY BASED CONTROLLER 143
XIV CONTENTS
9 APPLICATION
S
149
9.1 TABLE WIPING AS A SERVICE ROBOTICS TASK 149
9.2 A MEDICAL SCENARIO: PEDICLE SCREW PLACEMENT 151
9.3 COMPLIANT MOBILE MANIPULATION 155
9.4 OPENING A DOOR 157
9.5 TWO-ARM MANIPULATION 160
1
0 CONTROLLE
R COMPARISO
N AN
D CONCLUSION
S
165
REFERENCE
S
169
A APPENDI
X
177
A.
L TIME-VARYING SYSTEMS 177
A.2 CONDITIONAL STABILITY 181
A.3 PASSIVITY DEFINITIONS 182
A.4 SOME MATRI
X LEMMAT
A AN
D DEFINITIONS 183
A.5 INVERSION OF TH
E EXTENDE
D JACOBIA
N JJV(?
) 185
A.6 MODEL PARAMETER
S FOR TH
E DLR-LIGHTWEIGHT-ROBOT-II 187
A.7 LIST OF USED SYMBOLS 188
|
| any_adam_object | 1 |
| author | Ott, Christian |
| author_facet | Ott, Christian |
| author_role | aut |
| author_sort | Ott, Christian |
| author_variant | c o co |
| building | Verbundindex |
| bvnumber | BV046049327 |
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| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.892 |
| dewey-search | 629.892 |
| dewey-sort | 3629.892 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Maschinenbau / Maschinenwesen Informatik Werkstoffwissenschaften / Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Thesis Book |
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| genre | (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV046049327 |
| illustrated | Illustrated |
| indexdate | 2024-12-20T18:41:49Z |
| institution | BVB |
| isbn | 9783642088735 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-031430864 |
| oclc_num | 1112135763 |
| open_access_boolean | |
| owner | DE-91G DE-BY-TUM DE-29T |
| owner_facet | DE-91G DE-BY-TUM DE-29T |
| physical | XIV, 190 Seiten Illustrationen 24 cm |
| publishDate | 2010 |
| publishDateSearch | 2010 |
| publishDateSort | 2010 |
| publisher | Springer |
| record_format | marc |
| series | Springer tracts in advanced robotics |
| series2 | Springer tracts in advanced robotics |
| spellingShingle | Ott, Christian Cartesian impedance control of redundant and flexible-joint robots Springer tracts in advanced robotics Mechanische Impedanz (DE-588)4128481-1 gnd Kartesische Koordinaten (DE-588)4370913-8 gnd Kaskadenregelung (DE-588)4311704-1 gnd Leichtbau (DE-588)4035165-8 gnd Knickarmroboter (DE-588)4216690-1 gnd Reglerentwurf (DE-588)4177447-4 gnd |
| subject_GND | (DE-588)4128481-1 (DE-588)4370913-8 (DE-588)4311704-1 (DE-588)4035165-8 (DE-588)4216690-1 (DE-588)4177447-4 (DE-588)4113937-9 |
| title | Cartesian impedance control of redundant and flexible-joint robots |
| title_auth | Cartesian impedance control of redundant and flexible-joint robots |
| title_exact_search | Cartesian impedance control of redundant and flexible-joint robots |
| title_full | Cartesian impedance control of redundant and flexible-joint robots Christian Ott |
| title_fullStr | Cartesian impedance control of redundant and flexible-joint robots Christian Ott |
| title_full_unstemmed | Cartesian impedance control of redundant and flexible-joint robots Christian Ott |
| title_short | Cartesian impedance control of redundant and flexible-joint robots |
| title_sort | cartesian impedance control of redundant and flexible joint robots |
| topic | Mechanische Impedanz (DE-588)4128481-1 gnd Kartesische Koordinaten (DE-588)4370913-8 gnd Kaskadenregelung (DE-588)4311704-1 gnd Leichtbau (DE-588)4035165-8 gnd Knickarmroboter (DE-588)4216690-1 gnd Reglerentwurf (DE-588)4177447-4 gnd |
| topic_facet | Mechanische Impedanz Kartesische Koordinaten Kaskadenregelung Leichtbau Knickarmroboter Reglerentwurf Hochschulschrift |
| url | http://d-nb.info/988625695/04 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=031430864&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV016421724 |
| work_keys_str_mv | AT ottchristian cartesianimpedancecontrolofredundantandflexiblejointrobots |
Table of Contents
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Branch Library Mathematics & Informatics
| Call Number: |
0102 DAT 815f 2019 A 3650
Floor plan |
|---|---|
| Copy 1 | Available for loan On Shelf |