Cartesian impedance control techniques for torque controlled light-weight robots

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 1, Issue , 2002, Pages 657-663

  Albu Schäffer, Alin ^a   Hirzinger, Gerd ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

DAMPING; END EFFECTORS; FORCE CONTROL; MATRIX ALGEBRA; POSITION CONTROL; ROBOTICS; STATE FEEDBACK; TORQUE CONTROL; UNIVERSAL JOINTS;

CARTESIAN IMPEDANCE CONTROL; TORQUE CONTROLLED LIGHT-WEIGHT ROBOTS;

MANIPULATORS;

EID: 0036060731     PISSN: 10504729     EISSN: None     Source Type: Journal    
DOI: 10.1109/ROBOT.2002.1013433     Document Type: Article

References (16)

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