Compliant manipulators on graphs

Stefan Groothuis; Stefano Stramigioli; Raffaella Carloni

doi:10.1109/IROS.2015.7354311

Compliant manipulators on graphs

Stefan Groothuis, Stefano Stramigioli, Raffaella Carloni

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

1 Citation (Scopus)

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
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	https://doi.org/10.1109/IROS.2015.7354311
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
Publisher	IEEE Robotics and Automation Society

Conference

Conference	2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Abbreviated title	IROS
Country	Germany
City	Hamburg
Period	28/09/15 → 2/10/15
Internet address	https://iros2015.informatik.uni-hamburg.de/

Keywords

EWI-26690
Modeling
Graph Theory
IR-99027
compliant systems
METIS-315159
Robotics

Access to Document

10.1109/IROS.2015.7354311

http://eprints.eemcs.utwente.nl/secure2/26690/01/compliant_manipulators.pdf

Cite this

Groothuis, S., Stramigioli, S., & Carloni, R. (2015). Compliant manipulators on graphs. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 6536-6542). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/IROS.2015.7354311

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Groothuis, S, Stramigioli, S & Carloni, R 2015, Compliant manipulators on graphs. in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE ROBOTICS AND AUTOMATION SOCIETY, USA, pp. 6536-6542, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 28/09/15. https://doi.org/10.1109/IROS.2015.7354311

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AB - 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.

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KW - Graph Theory

KW - IR-99027

KW - compliant systems

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