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Authors: C. Birkenhofer ; S. Studer ; J. M. Zöllner and R. Dillmann

Affiliation: Forschungszentrum Informatik (FZI), Germany

Keyword(s): Hybrid Impedance Control, Multi-Segmented Robot, Force Feedback, Dynamic Modeling.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

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.

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Paper citation in several formats:
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 1: ICINCO; ISBN 978-972-8865-60-3; ISSN 2184-2809, SciTePress, pages 217-222. DOI: 10.5220/0001207602170222

@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 1: ICINCO},
year={2006},
pages={217-222},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001207602170222},
isbn={978-972-8865-60-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - HYBRID IMPEDANCE CONTROL FOR MULTI-SEGMENTED INSPECTION ROBOT Kairo-II
SN - 978-972-8865-60-3
IS - 2184-2809
AU - Birkenhofer, C.
AU - Studer, S.
AU - M. Zöllner, J.
AU - Dillmann, R.
PY - 2006
SP - 217
EP - 222
DO - 10.5220/0001207602170222
PB - SciTePress

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