State feedback controller for flexible joint robots: A globally stable approach implemented on DLR's light-weight robots

IEEE International Conference on Intelligent Robots and Systems

Volumn 2, Issue , 2000, Pages 1087-1093

  Albu Schäffer, Alin ^a   Hirzinger, Gerd ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; ASYMPTOTIC STABILITY; COMPUTER SIMULATION; CONTROL SYSTEM SYNTHESIS; FINITE ELEMENT METHOD; GRAVITATION; INDUSTRIAL ROBOTS; LINEARIZATION; MANIPULATORS; MATRIX ALGEBRA; SENSORS; STATE FEEDBACK;

FEEDBACK LINEARIZATIO; FLEXIBLE JOINT ROBOTS; GLOBAL STABILITY; GRAVITY COMPENSATION; LIGHT WEIGHT ROBOTS;

FEEDBACK CONTROL;

EID: 0034446431     PISSN: None     EISSN: None     Source Type: Journal    
DOI: 10.1109/IROS.2000.893164     Document Type: Article

References (12)

1. A mechatronics approach to the design of light-weight arms and multifingered hands
2. Towards a new generation of multi sensory light-weight robots with learning capabilities
3. Modeling and control of elastic joint robots
4. Key issues in dynamic control of lightweight robots for space and terrestrial applications
5. PD control with desired gravity compensation of robotic manipulators: A review
6. Robust adaptive control of flexible joint robots with joint torque feedback
7. A general algorithm for dynamic feedback linearization of robots with elastic joints
8. A simple PD controller for robots with elastic joints
9. State-of-the-art and future research direction of robot control