Parameter identification and passivity based joint control for a 7DOF torque controlled light weight robot

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2001, Pages 2852-2858

  Albu Schaffer A ^a   Hirzinger, G ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

FLEXIBLE JOINT ROBOTS; LIGHT WEIGHT ROBOTS;

ALGORITHMS; COMPUTER SIMULATION; LYAPUNOV METHODS; PERTURBATION TECHNIQUES; POTENTIAL ENERGY; ROBOTIC ARMS; ROBOTICS; TORQUE CONTROL;

INDUSTRIAL ROBOTS;

EID: 0034874824     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2001.933054     Document Type: Conference Paper

References (21)

1. State feedback controller for flexible joint robots: A globally stable approach implemented on DLR's light-weight robots
2. Global tracking controllers for flexible-joint manipulators: A comparative study
3. A new generation of torque controlled light-weight robots
4. A mechatronics approach to the design of light-weight arms and multifingered hands
5. Learning an accurate neural modell of the dynamics of a typical industrial robot
6. An experimental study of nonlinear stiffness, hysteresis and friction effects in robot joints with harmonic drives and torque sensors
7. A general algorithm for dynamic feedback linearisation of robots with elastic joints
8. Gravity based autonomous calibration for robot manipulators
9. Practical realization of mechatronics in robotics
10. Key issues in dynamic control of lightweight robots for space and terrestrial applications
11. On the adaptive control of robot manipulators
12. Modeling and control of elastic joint robots
13. Robust adaptive control of flexible joint robots with joint torque feedback
14. A simple PD controller for robots with elastic joints