Employing Cartesian Impedance Control for the Opening of a Door: A Case Study in Mobile Manipulation
نویسندگان
چکیده
In this work a Cartesian impedance controller for flexible joint robots is applied in a mobile manipulation setup for opening a door. The considered mobile manipulation system is a combination of the DLR-Lightweight-Robot-II and the DLR-Hand-II with a mobile platform. The presentation focuses on the Cartesian impedance control of the arm with special emphasis on the treatment of the joint elasticities and on the robustness of the controller. The application of opening a door is described in detail. After grasping and turning the door handle a simple strategy for opening the door is applied. The arm uses a particular Cartesian impedance controller which basically keeps the door at a distance while the mobile platform moves through the door hinge. This works without knowledge of the door size and without planning an explicit door opening trajectory.
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