Kartesische impedanzregelung von robotern mit elastischen gelenken: Ein passivitätsbasierter ansatz

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.