Advertisement

Cartesian Compliant Control Strategies for Light-Weight, Flexible Joint Robots

  • Alin Albu-Schäffer
  • Gerd Hirzinger
Chapter
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 4)

Abstract

The paper focuses on theoretical and experimental aspects related to the Cartesian compliant control of flexible joint robots with joint torque measurement. While the Cartesian impedance control for rigid robots, as well as the joint level control of flexible joint robots have been studied in detail, their combined implementation on robots with six or seven joints still leaves many open questions from a practical point of view. On the other hand, from a theoretical point of view it is not always possible to prove the stability of simpler, practically implementable controller structures. The solutions chosen for the DLR robots, as well as some experimental results are presented.

Keywords

Admittance Control Joint Torque Impedance Control Motor Torque Controller Structure 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    A. Albu-Schäffer. Regelung von Robotern mit elastischen Gelenken am Beispiel der DLR-Leichtbauarme. PhD thesis, Technical University Munich, april 2002.Google Scholar
  2. 2.
    A. Albu-Schäffer and G. Hirzinger. A globally stable state-feedback controller for flexible joint robots. Journal of Advanced Robotics, Special Issue: Selected Papers from IROS 2000, 15(8):799–814, 2001.Google Scholar
  3. 3.
    A. Albu-Schäffer, C. Ott, U. Frese, and G. Hirzinger. Cartesian impedance control of redundant robots: Recent results with the dlr-light-weight-arms. submitted to ICRA, 2003.Google Scholar
  4. 4.
    B. Brogliato, R. Ortega, and R. Lozano. Global tracking controllers for flexible-joint manipulators: a comparative study. Automatica, 31(7):941–956, 1995.zbMATHCrossRefMathSciNetGoogle Scholar
  5. 5.
    F. Caccavale, C. Natale, B. Siciliano, and L. Villani. Six-dof impedance control based on angle/axis representations. IEEE Transactions on Robotics and Automation, 15(2):289–299, 1999.CrossRefGoogle Scholar
  6. 6.
    S. Chen and I. Kao. Theory of stiffness control in robotics using the conservative congruence transformation. International Symposium of Robotics Research, pages 7–14, 1999.Google Scholar
  7. 7.
    C. Ott, A. Albu-Schäffer, A. Kugi, and G. Hirzinger. Impedance control for flexible joint robots. Submitted to ICRA 2003, 2002.Google Scholar
  8. 8.
    G. Hirzinger, A. Albu-Schäffer, M. Hähnle, I. Schaefer, and N. Sporer. On a new generation of torque controlled light-weight robots. IEEE International Conference of Robotics and Automation, pages 3356–3363, 2001.Google Scholar
  9. 9.
    N. Hogan. Mechanical impedance of single-and multi-articular systems. In J.M. Winters and S. Woo, editors, Multiple Muscle Systems: Biomechanics and Muscle Organization, pages 149–163. Springer-Verlag, New York, 1990.Google Scholar
  10. 10.
    O. Khatib. A unified approach for motion and force control of robot manipulators: The operational space formulation. RA, RA-3:43–53, 1987.Google Scholar
  11. 11.
    R. Koeppe and G. Hirzinger. From human arms to a new generation of manipulators: Control and design principles. ASME Int. Mechanical Engineering Congress, 2001.Google Scholar
  12. 12.
    T. Lin and A.A. Goldenberg. Robust adaptive control of flexible joint robots with joint torque feedback. IEEE International Conference of Robotics and Automation, RA-3(4):1229–1234, 1995.Google Scholar
  13. 13.
    A. De Luca. Feedforward/feedback laws for the control of flexible robots. IEEE International Conference of Robotics and Automation, pages 233–240, 2000.Google Scholar
  14. 14.
    C. Ott, A. Albu-Schäffer, and G. Hirzinger. Comparison of adaptive and nonadaptive tracking control laws for a flexible joint manipulator. IROS, 2002.Google Scholar
  15. 15.
    J. K. Salisbury. Active stiffness control of a manipulator in cartesian coordinates. 19th IEEE Conference on Decision and Control, pages 83–88, 1980.Google Scholar
  16. 16.
    M. Spong. Modeling and control of elastic joint robots. IEEE Journal of Robotics and Automation, RA-3(4):291–300, 1987.MathSciNetCrossRefGoogle Scholar
  17. 17.
    M. Spong. Adaptive control of flexible joint manipulators: Comments on two papers. Automatica, 31(4):585–590, 1995.zbMATHCrossRefMathSciNetGoogle Scholar
  18. 18.
    S. Stramigioli and H. Bruyninckx. Geometry and screw theory for constrained and unconstrained robot. Tutorial at ICRA, 2001.Google Scholar
  19. 19.
    S. Sugano. Human-robot symbiosis. Workshop on Human-Robot Interaction, ICRA, 2002.Google Scholar
  20. 20.
    P. Tomei. A simple PD controller for robots with elastic joints. IEEE Transactions on Automatic Control, 36(10):1208–1213, 1991.CrossRefMathSciNetGoogle Scholar
  21. 21.
    M. Zinn, O. Khatib, B. Roth, and J.K. Salisbury. A new actuation approach for human friendly robot design. Int. Symp. on Experimental Robotics, Ischia, 2002.Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  • Alin Albu-Schäffer
    • 1
  • Gerd Hirzinger
    • 1
  1. 1.DLR Oberpfaffenhofen, German Aerospace CenterInstitute of Robotics and MechatronicsGermany

Personalised recommendations