A passivity based cartesian impedance controller for flexible joint robots - Part I: Torque feedback and gravity compensation

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2004, Issue 3, 2004, Pages 2659-2665

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

^a GERMAN AEROSPACE CENTER DLR   (Germany)

^b SAARLAND UNIVERSITY   (Germany)

^c UNIVERSITY OF TWENTE   (Netherlands)

Author keywords

[No Author keywords available]

Indexed keywords

ASYMPTOTIC STABILITY; AUTOMATION; CLOSED LOOP CONTROL SYSTEMS; ELASTICITY; JOINTS (STRUCTURAL COMPONENTS); PROBLEM SOLVING; ROBOTICS;

GRAVITY COMPENSATION; IMPEDANCE CONTROLLERS; TORQUE FEEDBACK;

FEEDBACK CONTROL;

EID: 3042632240     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/robot.2004.1307462     Document Type: Conference Paper

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