Abstract
This paper proposes a modeling method for generic serial-chain compliant robotic manipulators. It is based on graph theory and port-Hamiltonian systems, which allows a modular approach to the interconnection of rigid bodies with compliant actuators by means of kinematic pairs. This modularity allows a very simple and straight-forward change in a manipulator's actuator morphology. An example of a two degree of freedom planar manipulator shows that this modeling method is more suitable for modeling changes in actuator placement than traditional Euler-Lagrange models.
Original language | Undefined |
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Title of host publication | Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems |
Place of Publication | USA |
Publisher | IEEE ROBOTICS AND AUTOMATION SOCIETY |
Pages | 6536-6542 |
Number of pages | 7 |
ISBN (Print) | 978-1-4799-9994-1 |
DOIs | |
Publication status | Published - 2015 |
Event | 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany Duration: 28 Sep 2015 → 2 Oct 2015 https://iros2015.informatik.uni-hamburg.de/ |
Publication series
Name | |
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Publisher | IEEE Robotics and Automation Society |
Conference
Conference | 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 |
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Abbreviated title | IROS |
Country/Territory | Germany |
City | Hamburg |
Period | 28/09/15 → 2/10/15 |
Internet address |
Keywords
- EWI-26690
- Modeling
- Graph Theory
- IR-99027
- compliant systems
- METIS-315159
- Robotics