冗余机器人的笛卡尔阻抗控制:dlr -轻型臂的最新结果

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI:10.1109/ROBOT.2003.1242165

A. Albu-Schäffer, C. Ott, U. Frese, G. Hirzinger

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引用次数: 256

摘要

研究了基于奇异摄动方法的柔性关节机器人阻抗控制问题。然后讨论了在应用过程中具有高度实际意义的阻抗控制器的一些方面，例如冗余机械手的零空间刚度的实现，质量矩阵解耦的避免以及所需阻尼矩阵的相关设计。最后，通过DLR机器人的实测验证了所提方法的有效性。

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Cartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms

This paper addresses the problem of impedance control for flexible joint robots based on a singular perturbation approach. Some aspects of the impedance controller, which turned out to be of high practical relevance during applications are then addressed, such as the implementation of nullspace stiffness for redundant manipulators, the avoiding of mass matrix decoupling and the related design of the desired damping matrix. Finally, the proposed methods are validated through measurements on the DLR robot.

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来源期刊

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

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