Decoupling based cartesian impedance control of flexible joint robots

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2003, Pages 3101-3107

  Ott, Christian ^a   Albu Schäffer, Alin ^a   Kugi, Andreas ^b   Hirzinger, Gerd ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

^b SAARLAND UNIVERSITY   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

CARTESIAN IMPEDANCE CONTROL; FLEXIBLE JOINT ROBOTS; LINK DYNAMICS; TORQUE DYNAMICS;

CONTROL SYSTEM SYNTHESIS; DYNAMIC MECHANICAL ANALYSIS; FLEXIBLE MANIPULATORS; MATHEMATICAL MODELS; STABILITY CRITERIA; TORQUE CONTROL;

ROBOTS;

EID: 0344033866     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (13)

1. A. Albu-Schäffer, C. Ott, U. Frese, and G. Hirzinger. Cartesian Impedance control of redundant robots: Recent results with the dlr-light-weight-arms. IEEE Int. Conf. on Robotics and Automation, 2003.
2. G. Hirzinger, A. Albu-Schäffer, M. Hähnle, I. Schaefer, and N. Sporer. On a new generation of torque controlled light-weight robots. In IEEE International Conference of Robotics and Automation, pages 3356-3363, 2001.
3. N. Hogan. Impedance control: An approach to manipulation, part I - theory, part II - implementation, part III - applications. Journ. of Dyn. Systems, Measurement and Control, 107:1-24, 1985.
4. H. K. Khalil. Nonlinear Systems. Prentice Hall, second edition, 1996.
5. O. Khatib. A unified approach for motion and force control of robot manipulators: The operational space formulation. IEEE Journal of Robotics and Automation, 3(1):1115-1120, February 1987.
6. T. Lin and A. Goldenberg. Robust adaptive control of flexible joint robots with joint torque feedback. IEEE Int. Conf. on Robotics and Automation, pages 1229-1234, 1995.
7. T. Lin and A. Goldenberg. A unified approach to motion and force control of flexible joint robots. IEEE Int. Conf. on Robotics and Automation, pages 1115-1120, 1996.
8. A. Loria. Cascaded nonlinear time-varying systems: analysis and design. Minicourse at the Congreso Internacional de Computacion, Cd. Mexico, 2001.
9. C. Ott, A. Albu-Schäffer, and G. Hirzinger. Comparison of adaptive and nonadaptive tracking control laws for a flexible joint manipulator. IEEE Int. Conf. on Intelligent Robots and Systems, 2002.
10. V. Santibanez and R. Kelly. Strict lyapunov functions for control of robot manipulators. Automatica, 33(4):675-682, 1997.
11. P. Seibert and R. Suarez. Global stabilization of nonlinear cascade systems. Systems and Control Letters 14, pages 347-352, 1990.
12. M. Spong. Modeling and control of elastic joint robots. IEEE Journal of Robotics and Automation, RA-3:291-300, 1987.
13. S. Stramigioli and H. Bruyninckx. Geometry and screw theory for constrained and unconstrained robot. Tutorial at ICRA, 2001.