3 search results - page 1 / 1 » Cartesian Impedance Control Techniques for Torque Controlled... |
ICRA
2002
IEEE
13 years 9 months ago
2002
IEEE
The paper compares various approaches to implementing a compliant Cartesian behavior for robotic manipulators: impedance, admittance and stiffness control. A new controller struc...
ICRA
2003
IEEE
13 years 9 months ago
2003
IEEE
— 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...
HAPTICS
2007
IEEE
13 years 10 months ago
2007
IEEE
In this paper, we concentrate on the design of a new whole-sensitive robot arm enabling torque measurement in each joint by means of developed optical torque sensors. When the con...