TY - GEN
T1 - Parameter identification and passivity based joint control for a 7DOF torque controlled light weight robot
AU - Albu-Schäffer, A.
AU - Hirzinger, G.
PY - 2001
Y1 - 2001
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0034874824&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2001.933054
DO - 10.1109/ROBOT.2001.933054
M3 - Conference contribution
AN - SCOPUS:0034874824
SN - 0780365763
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2852
EP - 2858
BT - Proceedings - IEEE International Conference on Robotics and Automation
T2 - 2001 IEEE International Conference on Robotics and Automation
Y2 - 21 May 2001 through 26 May 2001
ER -