Control



Arm

low intrinsic damping of passive elasticities: oscillatory dynamics

=> active damping control by state feedback control and system flatness property

combination of active control with passive elasticities to increase the stiffness range

=> active/passive Cartesian Impedance control scheme

   

 Disturbance damping

 Active/passive impedance control

Hand

  • anthropomorphic kinematic offers excellent grasping capabilities
  • flexible tendons provide impressive robustness but require complex control scheme
  • internal forces can modulate the joint stiffness but must satisfy the torque and pulling constraints

     

  Non-linear thumb control

 Grasping synergies

VIDEOS:

Active damping control:
http://youtu.be/nw_PRZeiNs8


Contact
Dr. Markus Grebenstein
German Aerospace Center

Institute of Robotics and Mechatronics
, Mechatronic Components and Systems
Tel: +49 8153 28-1064

Fax: +49 8153 28-1134

E-Mail: Markus.Grebenstein@dlr.de
URL for this article
http://www.dlr.de/rmc/rm/en/desktopdefault.aspx/tabid-5486/8995_read-34143/