TY - GEN
T1 - A cartesian compliance controller for a manipulator mounted on a flexible structure
AU - Ott, Christian
AU - Albu-Schäffer, Alin
AU - Hirzinger, Gerd
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=34250666203&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.282539
DO - 10.1109/IROS.2006.282539
M3 - Conference contribution
AN - SCOPUS:34250666203
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4502
EP - 4508
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -