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Title:

Experimental Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial Robot

Document type:
Zeitschriftenaufsatz
Author(s):
Bjelonic, Filip; Sachtler, Arne; Albu-Schaffer, Alin; Della Santina, Cosimo
Abstract:
Adding elastic elements to the mechanical structure should enable robots to perform efficient oscillatory tasks. Still, even characterizing natural oscillations in nonlinear systems is a challenge in itself, which nonlinear modal theory promises to solve. Therein eigenmanifolds generalize eigenspaces to mechanical systems with non-Euclidean metrics and thus characterize families of oscillations that are autonomous evolutions of the robot. Eigenmanifolds likewise provide a framework for deriving...     »
Journal title:
IEEE Robotics and Automation Letters
Year:
2022
Journal volume:
7
Year / month:
2022-04
Journal issue:
2
Pages contribution:
1689-1696
Covered by:
Scopus
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.1109/lra.2022.3141156
WWW:
https://ieeexplore.ieee.org/document/9674820
Publisher:
Institute of Electrical and Electronics Engineers (IEEE)
E-ISSN:
2377-37662377-3774
Status:
Verlagsversion / published
Date of publication:
01.04.2022
Semester:
WS 21-22
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