Passivity based Cartesian impedance control for flexible joint manipulators

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 37, Issue 13, 2004, Pages 901-906

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

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

Energy shaping; Flexible joint robots; Impedance control; Passivity based control; Robot control

Indexed keywords

CLOSED LOOP SYSTEMS; CONTROLLERS; FLEXIBLE MANIPULATORS; KINETIC ENERGY; KINETICS; MOLECULAR PHYSICS; POTENTIAL ENERGY; POWER CONTROL; ROBOTS;

ENERGY-SHAPING; FLEXIBLE JOINT ROBOTS; IMPEDANCE CONTROL; PASSIVITY BASED CONTROL; ROBOT CONTROLS;

FEEDBACK;

EID: 84860955302     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1016/S1474-6670(17)31340-X     Document Type: Conference Paper

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