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A Passivity Based Cartesian Impedance Controller for Flexible Joint Robots Part I: Torque Feedback and Gravity Compensation
Ott, C. and Albu-Schäffer, A. and Kugi, A. and Stramigioli, S. and Hirzinger, G. (2004) A Passivity Based Cartesian Impedance Controller for Flexible Joint Robots Part I: Torque Feedback and Gravity Compensation. In: Proceedings, pp. 2659-2665. IEEE International Conference on Robotics and Automation ICRA, New Orleans, Louisiana, USA, April 26 - May 1, 2004.
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| Document Type: | Conference or Workshop Item (Paper) | ||||||||||||
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| Additional Information: | LIDO-Berichtsjahr=2004, | ||||||||||||
| Title: | A Passivity Based Cartesian Impedance Controller for Flexible Joint Robots Part I: Torque Feedback and Gravity Compensation | ||||||||||||
| Authors: |
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| Date: | 2004 | ||||||||||||
| Journal or Publication Title: | Proceedings | ||||||||||||
| Page Range: | pp. 2659-2665 | ||||||||||||
| Status: | Published | ||||||||||||
| Event Title: | IEEE International Conference on Robotics and Automation ICRA, New Orleans, Louisiana, USA, April 26 - May 1, 2004 | ||||||||||||
| Organizer: | IEEE | ||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||
| HGF - Program: | Space | ||||||||||||
| HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | ||||||||||||
| DLR - Research area: | Space | ||||||||||||
| DLR - Program: | W SY - Technik für Raumfahrtsysteme | ||||||||||||
| DLR - Research theme (Project): | UNSPECIFIED | ||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics | ||||||||||||
| Deposited By: | elib DLR-Beauftragter | ||||||||||||
| Deposited On: | 16 Sep 2005 | ||||||||||||
| Last Modified: | 14 Jan 2010 18:28 |
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