Cartesian impedance control of redundant robots: Recent results with the DLR-Light-Weight-Arms

Alin Albu-Schäffer, Christian Ott, Udo Frese, Gerd Hirzinger

Research output: Contribution to journalConference articlepeer-review

258 Scopus citations

Abstract

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 turned out to be high practical relevance during applications are then addressed, such as the implementation of nullspace stiffness for redundant manipulators, the avoiding of mass matrix decoupling and the related design of the desired damping matrix. Finally, the proposed methods are validated through measurements on the DLR robot.

Original languageEnglish
Pages (from-to)3704-3709
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
StatePublished - 2003
Externally publishedYes
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 14 Sep 200319 Sep 2003

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