Title :
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
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;
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
DOI :
10.1109/IROS.2006.282539
