[robotics-worldwide] Announcement: ICRA'07 Tutorial on "Nonlinear Control of Flexible Joint Robots"

Christian Ott christian.ott at dlr.de
Thu Mar 8 03:58:54 PST 2007

[Apologies for multiple copies of this announcement.]

                ICRA 2007 Tutorial on



    - Alin Albu-Schäffer, German Aerospace Center (DLR)
    - Christian Ott, German Aerospace Center (DLR)
    - Alessandro De Luca, Università di Roma "La Sapienza"

Saturday 14 April 2007, 8:30-18:00, held in conjunction with the 2007
IEEE International Conference on Robotics and Automation ICRA'07 (10-14
April) in Rome, Italy.

The tutorial presents the state of the art on nonlinear control of
flexible joint robots. It is primarily intended for PhD students and
researchers working on control issues of robots with non-negligible
joint elasticity. But since many different approaches from nonlinear
control will be treated it is also of interest for researchers who work
on other aspects of robot control.
The control of robots with non-negligible joint elasticity is a topic
that has drawn the attention of the robot control community since more
than twenty years. Nowadays a huge amount of literature on this problem
is available, mainly in form of conference and journal papers. However,
there is no standard work available describing in a compact way the
state of the art. Researchers instead must dig through a vast amount of
papers in order to get a good overview of the known control solutions.
This tutorial, therefore, aims at summarizing the nonlinear control
methods developed for flexible joint robots. Presently, the control
issues related to flexible joint robots come again into focus of
robotics research when considering those newly developed robot
technologies like antagonistically driven joints, variable stiffness
actuation, serial elastic actuators, all motivated by efficiency and
safety issues for robots directly interacting with unknown environments
and with humans.
The tutorial will treat a large amount of methods from nonlinear control
theory and detail their application to robot models with flexible
joints. Apart from describing the state of the art, also missing links
and open problems for further research will be identified.
Since performance of physical human-robot interaction can be assessed
only in the real experiment, we will present at the end of the tutorial
some selected experiments highlighting key issues of the covered
material with a DLR-KUKA light-weight arm.

    * Dynamic Modeling of Flexible Joint Robots
    * Regulation Control
        - PD control, Torque Feedback, Full State Feedback
        - Compliance Control
    * Observer Design
        - State Observer
        - Disturbance Observer
    * Tracking Control
        - Singular Perturbation
        - Static/Dynamic Feedback Linearization
        - Triangular Systems, Backstepping, 'Passivity' based Tracking
    * Experiments with a DLR-KUKA lightweight arm

To sign up for the tutorial, please mark it during the (online)
registration procedure for ICRA 2007.

For more informations please visit the tutorial website
http://www.robotic.dlr.de/icra07tutorial/ or send an email to
christian.ott at dlr.de and/or alin.albu-schaeffer at dlr.de.

 Christian Ott

 DLR - German Aerospace Center
 Institute of Robotics and Mechatronics
 P.O.Box 1116, D-82230 Wessling

 Phone: +49/(0)8153/28/3080
 Fax:   +49/(0)8153/28/1134

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