Key issues in the dynamic control of lightweight robots for space and terrestrial applications

Jing Xin Shi, A. Albu-Schaffer, G. Hirzinger

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

17 Scopus citations

Abstract

As compared with industrial robots, the DLR lightweight robot characterizes a new milestone in the field of robot design 111. The module structure, the highly integrated electrical and mechanical components, the very low own-weighthoad ratio, the high motion speed as well as the joint-torque feedback capability are the main features of this new robot generation aiming towards the functionality of a human arm. The paper attempts to integrate the newest results in the field of robotics, non-linear control theory and electric-drive systems to formulate the possible solutions of the dynamic control issues. Some experimental or simulation results are given to confirm the effectiveness of the proposed control approaches.

Original languageEnglish
Title of host publicationProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages490-497
Number of pages8
ISBN (Print)078034300X
DOIs
StatePublished - 1998
Externally publishedYes
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: 16 May 199820 May 1998

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume1
ISSN (Print)1050-4729

Conference

Conference15th IEEE International Conference on Robotics and Automation, ICRA 1998
Country/TerritoryBelgium
CityLeuven
Period16/05/9820/05/98

Keywords

  • fieldweakening of PM motors
  • flexible-joint robots
  • gearbox dynamics
  • redundant robots
  • state estimation

Fingerprint

Dive into the research topics of 'Key issues in the dynamic control of lightweight robots for space and terrestrial applications'. Together they form a unique fingerprint.

Cite this