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ICRA
2003
IEEE

Decoupling based Cartesian impedance control of flexible joint robots

9 years 5 months ago
Decoupling based Cartesian impedance control of flexible joint robots
— This paper addresses the impedance control problem for flexible joint manipulators. An impedance controller structure is proposed, which is based on an exact decoupling of the torque dynamics from the link dynamics. A formal stability analysis of the proposed controller is presented for the general tracking case. Preliminary experimental results are given for a single flexible joint.
Christian Ott, Alin Albu-Schäffer, Andreas Ku
Added 04 Jul 2010
Updated 04 Jul 2010
Type Conference
Year 2003
Where ICRA
Authors Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Gerd Hirzinger
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