Title :
Parameter identification and passivity based joint control for a 7 DOF torque controlled light weight robot
Author :
Albu-Schäffer, Alin ; Hirzinger, Gerd
Author_Institution :
Inst. of Robotics & Mechatronics, German Aerosp. Res. Establ., Oberpfaffenhofen, Germany
Abstract :
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.
Keywords :
asymptotic stability; parameter estimation; position control; robot dynamics; two-term control; 7 DOF torque controlled light weight robot; flexible joint robot; parameter identification; passivity based joint control; passivity property; Lighting control; Manipulators; Orbital robotics; Parameter estimation; Robot control; Robot sensing systems; Service robots; Solid modeling; Torque control; Weight control;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933054
