A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure

Author

Ott, Christian ; Albu-Schäffer, Alin ; Hirzinger, Gerd

Author_Institution

Inst. of Robotics & Mechatronics, German Aerosp. Center, Wessling

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

4502

Lastpage

4508

Abstract

In this paper the Cartesian compliance control of a manipulator mounted on a flexible base is considered. The proposed control law aims at achieving a desired stiffness and damping in Cartesian coordinates while taking account of the base flexibility. The controller does not use any measurement of the base motion, however a model of the base stiffness is required. For the closed loop system, asymptotic stability in case of free motion is proven. Furthermore, considering interaction tasks, it is shown that the controlled manipulator system has a useful passivity property

Keywords

asymptotic stability; closed loop systems; compliance control; flexible structures; manipulator dynamics; Cartesian compliance controller; Cartesian coordinates; asymptotic stability; base flexibility; base stiffness; closed loop system; flexible structure; free motion; manipulator system; Control systems; Damping; Feedback; Flexible structures; Gravity; Intelligent robots; Manipulator dynamics; Motion control; Motion measurement; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0258-1

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.282539

Filename

4058421