Cartesian Impedance Control for Dexterous Manipulation

IEEE International Conference on Intelligent Robots and Systems

Volumn 4, Issue , 2003, Pages 3270-3275

  Biagiotti, L ^a   Liu, H ^b   Hirzinger, G ^b   Melchiorri, C ^a  

^a UNIVERSITY OF BOLOGNA   (Italy)

^b GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

APPROXIMATION THEORY; DEGREES OF FREEDOM (MECHANICS); ELECTRIC IMPEDANCE; KINEMATICS; MANIPULATORS; PARAMETER ESTIMATION; POSITION CONTROL; PROBLEM SOLVING; ROBOTIC ARMS; ROBUSTNESS (CONTROL SYSTEMS); SENSORS; SENSORY PERCEPTION;

DEXTROUS MANIPULATION; FORCE SENSORS; IMPEDANCE CONTROL;

ROBOTICS;

EID: 0347409310     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (9)

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6. S. Stramigioli, From Differentiate Manifolds to Interactive Robot Control. PhD thesis, Delft University, 1998.
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8. A. Albu-Schaeffer and G. Hirzinger, "Cartesian impedance control techniques for torque controlled light-weight robots," in Proc. IEEE Int. Conf. Robotics and Automation, ICRA02, 2002.
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