DocumentCode
2244178
Title
Decoupling based Cartesian impedance control of flexible joint robots
Author
Ott, Christian ; Albu-Schaffer, Alin ; Kugi, Andreas ; Hirzinger, Gerd
Author_Institution
Inst. of Robotics & Mechatronics, German Aerosp. Center, Wessling, Germany
Volume
3
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
3101
Abstract
This paper addresses the impedance control problem for flexible joint manipulators. An impedance controller structure is proposed, which is based on an exact decoupling of the torque dynamics from the link dynamics. A formal stability analysis of the proposed controller is presented for the general tracking case. Preliminary experimental results are given for a single flexible joint.
Keywords
flexible manipulators; manipulator dynamics; stability; torque control; Cartesian impedance control; decoupling; flexible joint manipulators; flexible joint robots; impedance controller structure; stability analysis; torque dynamics; Aerodynamics; Automatic control; Control systems; Impedance; Manipulator dynamics; Robotics and automation; Robots; Stability analysis; Symmetric matrices; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1242067
Filename
1242067
Link To Document