The variable stiffness actuation (VSA) technology has been recently developed and applied in robotic arms. Mechanism robustness, high peak torque and velocity, and stiffness adjustment flexibility are key benefits of VSA joints. However, the achievable Cartesian stiffness by uncoupled VSA joints is limited. Therefore we suggest and analyze the use of an active impedance controller in combination with the passive joints to further increase the stiffness range. An algorithm to optimize the passive and active Cartesian stiffness is proposed to achieve a desired Cartesian stiffness as precise as possible. The algorithm was implemented and tested on the VSA robot DLR Hand Arm System. Experimental results and measurements of the active/passive impedance algorithm are shown.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Cartesian Impedance Control for a Variable Stiffness Robot Arm


    Beteiligte:

    Kongress:

    2011 ; San Francisco, CA, USA



    Erscheinungsdatum :

    2011-09-25



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Redundancy resolution in human-robot co-manipulation with cartesian impedance control

    FICUCIELLO, FANNY / VILLANI, LUIGI / SICILIANO, BRUNO | BASE | 2016

    Freier Zugriff

    Cartesian impedance control of redundant manipulators for human-robot co-manipulation

    FICUCIELLO, FANNY / VILLANI, LUIGI / SICILIANO, BRUNO et al. | BASE | 2014

    Freier Zugriff

    Position control of cartesian robot

    Pham, Trung | BASE | 2019

    Freier Zugriff

    Variable impedance control in Cartesian latent space while avoiding obstacles in null space

    Parent Alonso, David / Colomé, Adrià / Torras, Carme | BASE | 2020

    Freier Zugriff

    VARIABLE STIFFNESS SOLE FOR ROBOT

    BAEK KYU CHO | Europäisches Patentamt | 2022

    Freier Zugriff