Cartesian impedance control of redundant robots: Recent results with the DLR-Light-Weight-Arms

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2003, Pages 3704-3709

  Albu Schäffer, Alin ^a   Ott, Christian ^a   Frese, Udo ^a   Hirzinger, Gerd ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

DAMPING; ELASTICITY; MATHEMATICAL MODELS; PERTURBATION TECHNIQUES; REDUNDANCY; STIFFNESS MATRIX; TORQUE CONTROL;

FLEXIBLE JOINT ROBOTS; IMPEDANCE CONTROL; REDUNDANT ROBOTS;

ROBOTIC ARMS;

EID: 0344033765     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (12)

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