A unified passivity-based control framework for position, torque and impedance control of flexible joint robots

International Journal of Robotics Research

Volumn 26, Issue 1, 2007, Pages 23-39

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

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

Active vibration damping; Flexible joint robots; Impedance control; Passivity based control; Torque feedback

Indexed keywords

FEEDBACK; MATHEMATICAL MODELS; POSITION CONTROL; ROBOTS; TORQUE CONTROL;

ACTIVE VIBRATION DAMPING; FLEXIBLE JOINT ROBOTS; IMPEDANCE CONTROL; PASSIVITY BASED CONTROL;

CONTROL SYSTEM ANALYSIS;

EID: 33845806446     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364907073776     Document Type: Article

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