ICRA
2002
IEEE
13 years 10 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 10 months ago
2003
IEEE
— This paper addresses the problem of impedance control for flexible joint robots based on a singular perturbation approach. Some aspects of the impedance controller, which turn...