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    Nhan đề: Passivity based on energy tank for cartesian impedance control of DLR space robots with floating base and elastic joints /
DDC 629.892
Tác giả CN Lê, Tiến Lực
Nhan đề Passivity based on energy tank for cartesian impedance control of DLR space robots with floating base and elastic joints / Lê Tiến Lực
Mô tả vật lý 13 p.
Tóm tắt This paper presents a control structure for orbital servicing mission of CEASAR robotic arm developed by German Aerospace Center (DLR). In order to reduce mass the CEASAR arm is equipped with Harmonic-Drives with high ratio which unfortunately lead to high joint elasticity and high motor friction and have to be considered in controller design for successful manipulator in—orbit operations. Therefore, in this control structure, for high tracking control a cascaded position controller based on state feedback control structure with observer—based friction compensation and for safe interaction control with the environment a Cartesian impedance controller is used. which is designed based on using energy tank method to ensure passivity of the controller system. The proposed control methods are very efficient and practicable. Furthermore, they are very robust . With dynamic parameter uncertainties, coupling dynamics. and can simultaneously provide good results in term of the position accuracy und dynamic behavior. Simulation results validate practical efficiency of the controllers.
Từ khóa tự do Flexible joint robots
Từ khóa tự do Hosting base robots
Từ khóa tự do Impedance control
Từ khóa tự do Robot không gian
Từ khóa tự do Robot linh hoạt
Từ khóa tự do Space robots
Nguồn trích Tạp chí Tin học và Điều khiển học = Journal of Computer Science And Cybernetics 2018Page 49 - 61 Số: 01 Tập: 34
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082 |a629.892
100 |aLê, Tiến Lực
245 |aPassivity based on energy tank for cartesian impedance control of DLR space robots with floating base and elastic joints / |cLê Tiến Lực
300 |a13 p.
520 |aThis paper presents a control structure for orbital servicing mission of CEASAR robotic arm developed by German Aerospace Center (DLR). In order to reduce mass the CEASAR arm is equipped with Harmonic-Drives with high ratio which unfortunately lead to high joint elasticity and high motor friction and have to be considered in controller design for successful manipulator in—orbit operations. Therefore, in this control structure, for high tracking control a cascaded position controller based on state feedback control structure with observer—based friction compensation and for safe interaction control with the environment a Cartesian impedance controller is used. which is designed based on using energy tank method to ensure passivity of the controller system. The proposed control methods are very efficient and practicable. Furthermore, they are very robust . With dynamic parameter uncertainties, coupling dynamics. and can simultaneously provide good results in term of the position accuracy und dynamic behavior. Simulation results validate practical efficiency of the controllers.
653 |aFlexible joint robots
653 |aHosting base robots
653 |aImpedance control
653 |aRobot không gian
653 |aRobot linh hoạt
653 |aSpace robots
773 |tTạp chí Tin học và Điều khiển học = Journal of Computer Science And Cybernetics |d2018|gPage 49 - 61|v34|i01
890|c0|a0|b0|d0
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