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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)
Additional Information: LIDO-Berichtsjahr=2004,
Title:A Passivity Based Cartesian Impedance Controller for Flexible Joint Robots – Part I: Torque Feedback and Gravity Compensation
Authors:
AuthorsInstitution or Email of Authors
Ott, C.UNSPECIFIED
Albu-Schäffer, A.UNSPECIFIED
Kugi, A.UNSPECIFIED
Stramigioli, S.UNSPECIFIED
Hirzinger, G.UNSPECIFIED
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 (old)
HGF - Program:Space (old)
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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