HYBRID IMPEDANCE CONTROL FOR MULTI-SEGMENTED INSPECTION ROBOT Kairo-II

C. Birkenhofer, S. Studer, J. M. Zöllner, R. Dillmann

Abstract

The tremendous redundancy of the multi-segmented robot Kairo-II can be utilized to enhance general robot configuration by any inspection task. To do so, an extensive control scheme must be installed which can handle both, contact scenarios with the environment and ambiguous robot configurations. A method for implementing an appropriate scheme using Transposed Jacobians based on Hybrid Impedance Control (TJ-HIC) is described and validated for multi-segmented robots. Crucial parts of this model are identified and implemented. These are dynamic modeling of the robot in Recursive Newton-Euler equations (RNE) and a sensory system for apropriate force feedback information.

References

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Paper Citation


in Harvard Style

Birkenhofer C., Studer S., M. Zöllner J. and Dillmann R. (2006). HYBRID IMPEDANCE CONTROL FOR MULTI-SEGMENTED INSPECTION ROBOT Kairo-II . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 217-222. DOI: 10.5220/0001207602170222


in Bibtex Style

@conference{icinco06,
author={C. Birkenhofer and S. Studer and J. M. Zöllner and R. Dillmann},
title={HYBRID IMPEDANCE CONTROL FOR MULTI-SEGMENTED INSPECTION ROBOT Kairo-II},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={217-222},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001207602170222},
isbn={978-972-8865-60-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - HYBRID IMPEDANCE CONTROL FOR MULTI-SEGMENTED INSPECTION ROBOT Kairo-II
SN - 978-972-8865-60-3
AU - Birkenhofer C.
AU - Studer S.
AU - M. Zöllner J.
AU - Dillmann R.
PY - 2006
SP - 217
EP - 222
DO - 10.5220/0001207602170222