The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
A passivity based Cartesian impedance controller for flexible joint robots - part I: torque feedback and gravity compensation
Abstract
In this paper a novel approach to the Cartesian impedance control problem for robots with flexible joints is presented. The proposed controller structure is based on simple physical considerations, which are motivating the extension of classical position feedback by an additional feedback of the joint torques. The torque feedback action can be interpreted as a scaling of the apparent motor inertia. Furthermore the problem of gravity compensation is addressed. Finally, it is shown that the closed loop system can be seen as a feedback interconnection of passive systems. Based on this passivity property a proof of asymptotic stability is presented.
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Citations
Cites
Impedance Control: An Approach to Manipulation: Part I—Theory
Hogan, N. (1985) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3140702 · Cited by 3,673
Cited by
The DLR lightweight robot: design and control concepts for robots in human environments
Albu‐Schäffer, A., Haddadin, S., Ott, C., Stemmer, A., Wimböck, T., & Hirzinger, G. (2007) · Industrial Robot: An International Journal · doi:10.1108/01439910710774386 · Cited by 623
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Metadata
- Authors
- Ott, C., Albu-Schaffer, A., Kugi, A., Stamigioli, S., & Hirzinger, G.
- Venue
- IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
- Publisher
- IEEE
- Published
- 2004
- Pages
- 2659-2665 Vol.3
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2097446805
- Cited by
- 167
- References
- 1
- FWCI
- 15.61
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Ott, C., Albu-Schaffer, A., Kugi, A., Stamigioli, S., & Hirzinger, G. (2004). A passivity based Cartesian impedance controller for flexible joint robots - part I: torque feedback and gravity compensation. IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004. https://doi.org/10.1109/robot.2004.1307462
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