TY - JOUR
T1 - Kartesische impedanzregelung von robotern mit elastischen gelenken
T2 - Ein passivitätsbasierter ansatz
AU - Ott, Christian
AU - Albu-Schäffer, Alin
AU - Kugi, Andreas
AU - Stramigioli, Stefano
AU - Hirzinger, Gerd
PY - 2005
Y1 - 2005
N2 - This paper addresses a novel approach to the Cartesian Impedance Control problem for robots with flexible joints. The controller structure being proposed is based on simple physical considerations, which are motivating the extension of classical position feedback by an additional feedback of the joint torques. The controller needs only the computation of the first derivatives of the measured signals and can therefore be implemented easily. It is shown that the closed-loop system can be seen as a feedback interconnection of passive subsystems. Finally, some experimental results of the proposed controller with the DLR-light-weightrobot- II are shown.
AB - This paper addresses a novel approach to the Cartesian Impedance Control problem for robots with flexible joints. The controller structure being proposed is based on simple physical considerations, which are motivating the extension of classical position feedback by an additional feedback of the joint torques. The controller needs only the computation of the first derivatives of the measured signals and can therefore be implemented easily. It is shown that the closed-loop system can be seen as a feedback interconnection of passive subsystems. Finally, some experimental results of the proposed controller with the DLR-light-weightrobot- II are shown.
KW - Flexible joint robots
KW - Impedance control
KW - Passivity based control
KW - Robotics
UR - http://www.scopus.com/inward/record.url?scp=53949089197&partnerID=8YFLogxK
U2 - 10.1524/auto.2005.53.8.378
DO - 10.1524/auto.2005.53.8.378
M3 - Artikel
AN - SCOPUS:53949089197
SN - 0178-2312
VL - 53
SP - 378
EP - 388
JO - At-Automatisierungstechnik
JF - At-Automatisierungstechnik
IS - 8
ER -