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

Springer Tracts in Advanced Robotics

Volumn 28, Issue , 2007, Pages 5-21

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

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

FEEDBACK; FLEXIBLE MANIPULATORS; ROBOTS; TORQUE;

CARTESIAN STIFFNESS; FLEXIBLE JOINT ROBOTS; GRAVITY COMPENSATION; IMPEDANCE CONTROL; IMPEDANCE CONTROLLERS; PASSIVITY BASED CONTROL; POTENTIAL FUNCTION; TORQUE FEEDBACK;

POSITION CONTROL;

EID: 33947494499     PISSN: 16107438     EISSN: 1610742X     Source Type: Book Series    
DOI: 10.1007/978-3-540-48113-3_2     Document Type: Article

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