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2006
IEEE

A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure

9 years 5 months ago
A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure
— In this paper the Cartesian compliance control of a manipulator mounted on a flexible base is considered. The proposed control law aims at achieving a desired stiffness and damping in Cartesian coordinates while taking account of the base flexibility. The controller does not use any measurement of the base motion, however a model of the base stiffness is required. For the closed loop system, asymptotic stability in case of free motion is proven. Furthermore, considering interaction tasks, it is shown that the controlled manipulator system has a useful passivity property.
Christian Ott, Alin Albu-Schäffer, Gerd Hirzi
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Christian Ott, Alin Albu-Schäffer, Gerd Hirzinger
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