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2011
T. Lens, K. Radkhah, O. von Stryk
Simulation of Dynamics and Realistic Contact Forces for Manipulators and Legged Robots with High Joint Elasticity
In: Proc. 15th International Conference on Advanced Robotics (ICAR), pp. 34-41, 2011
PDF fileAbstract
In this paper, multibody system dynamics simulation for manipulators and legged robots with high joint elasticities, particularly with focus on collision modeling, is addressed. We present the architecture of a newly developed toolbox in conjunction with a detailed discussion of a realistic contact, friction and stiction model, which is validated with real measurement data of a bouncing ball. The work presented is driven and inspired by two concrete robot developments in the authors" group: the manipulator BioRob and the biped BioBiped. The libraries are used to develop kinematic and kinetic models of these bio-inspired and highly elastic robots. Models and simulation of both robots are discussed, as well as occurring forces during collisions of the BioRob-X4 arm with the ground. We are also able to demonstrate good agreement of ground contact forces measured during slow jogging motion of a human subject with simulation results obtained with BioBiped1.
In this paper, multibody system dynamics simulation for manipulators and legged robots with high joint elasticities, particularly with focus on collision modeling, is addressed. We present the architecture of a newly developed toolbox in conjunction with a detailed discussion of a realistic contact, friction and stiction model, which is validated with real measurement data of a bouncing ball. The work presented is driven and inspired by two concrete robot developments in the authors" group: the manipulator BioRob and the biped BioBiped. The libraries are used to develop kinematic and kinetic models of these bio-inspired and highly elastic robots. Models and simulation of both robots are discussed, as well as occurring forces during collisions of the BioRob-X4 arm with the ground. We are also able to demonstrate good agreement of ground contact forces measured during slow jogging motion of a human subject with simulation results obtained with BioBiped1.
@INPROCEEDINGS{2011:Lens-etal,
author = {T. Lens and K. Radkhah and O. von Stryk},
title = {Simulation of Dynamics and Realistic Contact Forces for Manipulators and Legged Robots with High Joint Elasticity},
year = {2011},
pages = {34-41},
booktitle = {Proc. 15th International Conference on Advanced Robotics (ICAR)},
pdf = {2011_icar_lens-rdkhh_preprint.pdf},
abstract = {In this paper, multibody system dynamics simulation for manipulators and legged robots with high joint elasticities, particularly with focus on collision modeling, is addressed. We present the architecture of a newly developed toolbox in conjunction with a detailed discussion of a realistic contact, friction and stiction model, which is validated with real measurement data of a bouncing ball. The work presented is driven and inspired by two concrete robot developments in the authors" group: the manipulator BioRob and the biped BioBiped. The libraries are used to develop kinematic and kinetic models of these bio-inspired and highly elastic robots. Models and simulation of both robots are discussed, as well as occurring forces during collisions of the BioRob-X4 arm with the ground. We are also able to demonstrate good agreement of ground contact forces measured during slow jogging motion of a human subject with simulation results obtained with BioBiped1.},
}
author = {T. Lens and K. Radkhah and O. von Stryk},
title = {Simulation of Dynamics and Realistic Contact Forces for Manipulators and Legged Robots with High Joint Elasticity},
year = {2011},
pages = {34-41},
booktitle = {Proc. 15th International Conference on Advanced Robotics (ICAR)},
pdf = {2011_icar_lens-rdkhh_preprint.pdf},
abstract = {In this paper, multibody system dynamics simulation for manipulators and legged robots with high joint elasticities, particularly with focus on collision modeling, is addressed. We present the architecture of a newly developed toolbox in conjunction with a detailed discussion of a realistic contact, friction and stiction model, which is validated with real measurement data of a bouncing ball. The work presented is driven and inspired by two concrete robot developments in the authors" group: the manipulator BioRob and the biped BioBiped. The libraries are used to develop kinematic and kinetic models of these bio-inspired and highly elastic robots. Models and simulation of both robots are discussed, as well as occurring forces during collisions of the BioRob-X4 arm with the ground. We are also able to demonstrate good agreement of ground contact forces measured during slow jogging motion of a human subject with simulation results obtained with BioBiped1.},
}
2010
M. Schweitzer, C. Trommer, A. Karguth, J. Kunz, T. Lens, O. v. Stryk
Safe Human Interaction with the Compliant Robot Arm BioRob
In: 55. Internationales Wissenschaftliches Kolloquium 2010 der TU Ilmenau, TU Ilmenau (Hrsg.), 2010
@INPROCEEDINGS{2010:IWK-Karguth-vonStryk,
author = {M. Schweitzer and C. Trommer and A. Karguth and J. Kunz and T. Lens and O. v. Stryk},
title = {Safe Human Interaction with the Compliant Robot Arm BioRob},
year = {2010},
booktitle = {55. Internationales Wissenschaftliches Kolloquium 2010 der TU Ilmenau, TU Ilmenau (Hrsg.)},
pdf = {2010-IWK-Schweizer_etal_Safe_Human_Interaction_BioRob_PREPRINT.pdf},
}
author = {M. Schweitzer and C. Trommer and A. Karguth and J. Kunz and T. Lens and O. v. Stryk},
title = {Safe Human Interaction with the Compliant Robot Arm BioRob},
year = {2010},
booktitle = {55. Internationales Wissenschaftliches Kolloquium 2010 der TU Ilmenau, TU Ilmenau (Hrsg.)},
pdf = {2010-IWK-Schweizer_etal_Safe_Human_Interaction_BioRob_PREPRINT.pdf},
}
T. Lens, J. Kunz, O. von Stryk
Dynamic Modeling of the 4 DoF BioRob Series Elastic Robot Arm for Simulation and Control
In: Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010), Vol. 6472, pp. 411-422, Springer, 2010
Abstract
This paper presents the modeling of the light-weight BioRob robot arm with series elastic actuation for simulation and controller design. We describe the kinematic coupling introduced by the cable actuation and the robot arm dynamics including the elastic actuator and motor and gear model. We show how the inverse dynamics model derived from these equations can be used as a basis for a position tracking controller that is able to sufficiently damp the oscillations caused by the high, nonlinear joint elasticity. We presents results from simulation and brieföy describe the implementation for a real world application.
This paper presents the modeling of the light-weight BioRob robot arm with series elastic actuation for simulation and controller design. We describe the kinematic coupling introduced by the cable actuation and the robot arm dynamics including the elastic actuator and motor and gear model. We show how the inverse dynamics model derived from these equations can be used as a basis for a position tracking controller that is able to sufficiently damp the oscillations caused by the high, nonlinear joint elasticity. We presents results from simulation and brieföy describe the implementation for a real world application.
@INPROCEEDINGS{2010:SIMPAR-Lens,
author = {T. Lens and J. Kunz and O. von Stryk},
title = {Dynamic Modeling of the 4 DoF BioRob Series Elastic Robot Arm for Simulation and Control},
year = {2010},
volume = {6472},
pages = {411-422},
publisher = {Springer},
series = {Lecture Notes in Artificial Intelligence},
booktitle = {Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010)},
doi = {10.1007/978-3-642-17319-6_38},
pdf = {2010-SIMPAR-Lens_etal_PREPRINT.pdf},
abstract = {This paper presents the modeling of the light-weight BioRob robot arm with series elastic actuation for simulation and controller design. We describe the kinematic coupling introduced by the cable actuation and the robot arm dynamics including the elastic actuator and motor and gear model. We show how the inverse dynamics model derived from these equations can be used as a basis for a position tracking controller that is able to sufficiently damp the oscillations caused by the high, nonlinear joint elasticity. We presents results from simulation and brieföy describe the implementation for a real world application.},
}
author = {T. Lens and J. Kunz and O. von Stryk},
title = {Dynamic Modeling of the 4 DoF BioRob Series Elastic Robot Arm for Simulation and Control},
year = {2010},
volume = {6472},
pages = {411-422},
publisher = {Springer},
series = {Lecture Notes in Artificial Intelligence},
booktitle = {Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010)},
doi = {10.1007/978-3-642-17319-6_38},
pdf = {2010-SIMPAR-Lens_etal_PREPRINT.pdf},
abstract = {This paper presents the modeling of the light-weight BioRob robot arm with series elastic actuation for simulation and controller design. We describe the kinematic coupling introduced by the cable actuation and the robot arm dynamics including the elastic actuator and motor and gear model. We show how the inverse dynamics model derived from these equations can be used as a basis for a position tracking controller that is able to sufficiently damp the oscillations caused by the high, nonlinear joint elasticity. We presents results from simulation and brieföy describe the implementation for a real world application.},
}
T. Lens, J. Kunz, C. Trommer, A. Karguth, O. von Stryk
BioRob-Arm: A Quickly Deployable and Intrinsically Safe, Light- Weight Robot Arm for Service Robotics Applications
In: 41st International Symposium on Robotics (ISR 2010) / 6th German Conference on Robotics (ROBOTIK 2010), pp. 905-910, Jun, 2010
Abstract
Using conventional rigid industrial manipulators for service robotics applications typically demands huge efforts for safety measurements resulting in high installation and operation costs. We present how the BioRob robot arm is based on a combination of compliant actuation and lightweight mechanical design to obtain the flexibility, mobility and, most important, the inherent safety properties needed to implement effective and safe service robotics applications. We discuss the sensors and control structure used to damp the oscillations caused by the significant joint compliance of the arm and to obtain the accuracy needed for the intended applications. The concluding example of a typical pick and place application with teaching by manual guidance illustrates the benefits of the BioRob design for service robotics applications.
Using conventional rigid industrial manipulators for service robotics applications typically demands huge efforts for safety measurements resulting in high installation and operation costs. We present how the BioRob robot arm is based on a combination of compliant actuation and lightweight mechanical design to obtain the flexibility, mobility and, most important, the inherent safety properties needed to implement effective and safe service robotics applications. We discuss the sensors and control structure used to damp the oscillations caused by the significant joint compliance of the arm and to obtain the accuracy needed for the intended applications. The concluding example of a typical pick and place application with teaching by manual guidance illustrates the benefits of the BioRob design for service robotics applications.
@INPROCEEDINGS{2010:ISR-Lens_etal,
author = {T. Lens and J. Kunz and C. Trommer and A. Karguth and O. von Stryk},
title = {BioRob-Arm: A Quickly Deployable and Intrinsically Safe, Light- Weight Robot Arm for Service Robotics Applications},
year = {2010},
pages = {905-910},
month = {Jun},
address = {Munich, Germany},
booktitle = {41st International Symposium on Robotics (ISR 2010) / 6th German Conference on Robotics (ROBOTIK 2010)},
pdf = {2010-ISR_Robotik_Lens_etal_preprint.pdf},
abstract = {Using conventional rigid industrial manipulators for service robotics applications typically demands huge efforts for safety measurements resulting in high installation and operation costs. We present how the BioRob robot arm is based on a combination of compliant actuation and lightweight mechanical design to obtain the flexibility, mobility and, most important, the inherent safety properties needed to implement effective and safe service robotics applications. We discuss the sensors and control structure used to damp the oscillations caused by the significant joint compliance of the arm and to obtain the accuracy needed for the intended applications. The concluding example of a typical pick and place application with teaching by manual guidance illustrates the benefits of the BioRob design for service robotics applications.},
}
author = {T. Lens and J. Kunz and C. Trommer and A. Karguth and O. von Stryk},
title = {BioRob-Arm: A Quickly Deployable and Intrinsically Safe, Light- Weight Robot Arm for Service Robotics Applications},
year = {2010},
pages = {905-910},
month = {Jun},
address = {Munich, Germany},
booktitle = {41st International Symposium on Robotics (ISR 2010) / 6th German Conference on Robotics (ROBOTIK 2010)},
pdf = {2010-ISR_Robotik_Lens_etal_preprint.pdf},
abstract = {Using conventional rigid industrial manipulators for service robotics applications typically demands huge efforts for safety measurements resulting in high installation and operation costs. We present how the BioRob robot arm is based on a combination of compliant actuation and lightweight mechanical design to obtain the flexibility, mobility and, most important, the inherent safety properties needed to implement effective and safe service robotics applications. We discuss the sensors and control structure used to damp the oscillations caused by the significant joint compliance of the arm and to obtain the accuracy needed for the intended applications. The concluding example of a typical pick and place application with teaching by manual guidance illustrates the benefits of the BioRob design for service robotics applications.},
}
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