3 search results - page 1 / 1 » Cartesian Impedance Control Techniques for Torque Controlled... |
195
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ICRA
2002
IEEE
16 years 10 days 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...
164
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ICRA
2003
IEEE
16 years 21 days 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...
193
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HAPTICS
2007
IEEE
16 years 1 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...