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
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;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242067
