Parameter identification and passivity based joint control for a 7DOF torque controlled light weight robot

A. Albu-Schäffer, G. Hirzinger

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

93 Scopus citations

Abstract

In this paper we propose a method for identifying the parameters of a flexible joint robot based on the motor position, current and the additional joint torque sensor information. We make some theoretical remarks on the passivity property of the new controller used in the experiments. Simulation results for the movement of the complete robot are compared to measurements in order to validate the quality of the model and the performance of the controller.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2852-2858
Number of pages7
DOIs
StatePublished - 2001
Externally publishedYes
Event2001 IEEE International Conference on Robotics and Automation - Seoul, Korea, Republic of
Duration: 21 May 200126 May 2001

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume3
ISSN (Print)1050-4729

Conference

Conference2001 IEEE International Conference on Robotics and Automation
Country/TerritoryKorea, Republic of
CitySeoul
Period21/05/0126/05/01

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