A passivity based cartesian impedance controller for flexible joint robots - Part I: Torque feedback and gravity compensation

Christian Ott; Alin Albu-Schäffer; Andreas Kugi; Stefano Stramigioli; Gerd Hirzinger

doi:10.1109/robot.2004.1307462

A passivity based cartesian impedance controller for flexible joint robots - Part I: Torque feedback and gravity compensation

Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Stefano Stramigioli, Gerd Hirzinger

Research output: Contribution to journal › Conference article › peer-review

157 Scopus citations

Abstract

In this paper a novel approach to the Cartesian Impedance Control problem for robots with flexible joints is presented. The proposed controller structure is based on simple physical considerations, which are motivating the extension of classical position feedback by an additional feedback of the joint torques. The torque feedback action can be interpreted as a scaling of the apparent motor inertia. Furthermore the problem of gravity compensation is addressed. Finally, it is shown that the closed loop system can be seen as a feedback interconnection of passive systems. Based on these passivity property a proof of asymptotic stability is presented.

Original language	English
Pages (from-to)	2659-2665
Number of pages	7
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2004
Issue number	3
DOIs	https://doi.org/10.1109/robot.2004.1307462
State	Published - 2004
Externally published	Yes
Event	Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: 26 Apr 2004 → 1 May 2004

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10.1109/robot.2004.1307462

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title = "A passivity based cartesian impedance controller for flexible joint robots - Part I: Torque feedback and gravity compensation",

abstract = "In this paper a novel approach to the Cartesian Impedance Control problem for robots with flexible joints is presented. The proposed controller structure is based on simple physical considerations, which are motivating the extension of classical position feedback by an additional feedback of the joint torques. The torque feedback action can be interpreted as a scaling of the apparent motor inertia. Furthermore the problem of gravity compensation is addressed. Finally, it is shown that the closed loop system can be seen as a feedback interconnection of passive systems. Based on these passivity property a proof of asymptotic stability is presented.",

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issn = "1050-4729",

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number = "3",

note = "Proceedings- 2004 IEEE International Conference on Robotics and Automation ; Conference date: 26-04-2004 Through 01-05-2004",

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A passivity based cartesian impedance controller for flexible joint robots - Part I: Torque feedback and gravity compensation. / Ott, Christian; Albu-Schäffer, Alin; Kugi, Andreas et al.
In: Proceedings - IEEE International Conference on Robotics and Automation, Vol. 2004, No. 3, 2004, p. 2659-2665.

Research output: Contribution to journal › Conference article › peer-review

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T2 - Proceedings- 2004 IEEE International Conference on Robotics and Automation

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AU - Kugi, Andreas

AU - Stramigioli, Stefano

AU - Hirzinger, Gerd

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AB - In this paper a novel approach to the Cartesian Impedance Control problem for robots with flexible joints is presented. The proposed controller structure is based on simple physical considerations, which are motivating the extension of classical position feedback by an additional feedback of the joint torques. The torque feedback action can be interpreted as a scaling of the apparent motor inertia. Furthermore the problem of gravity compensation is addressed. Finally, it is shown that the closed loop system can be seen as a feedback interconnection of passive systems. Based on these passivity property a proof of asymptotic stability is presented.

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M3 - Conference article

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A passivity based cartesian impedance controller for flexible joint robots - Part I: Torque feedback and gravity compensation

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