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On the Passivity Based Impedance Control of Flexible Joint Robots

Ott, Christian and Albu-Schäffer, Alin and Kugi, A. and Hirzinger, Gerd (2008) On the Passivity Based Impedance Control of Flexible Joint Robots. IEEE Transactions on Robotics, pp. 416-429.

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Document Type:Article
Title:On the Passivity Based Impedance Control of Flexible Joint Robots
Authors:
AuthorsInstitution or Email of Authors
Ott, ChristianUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIED
Kugi, A.UNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:2 April 2008
Journal or Publication Title:IEEE Transactions on Robotics
Page Range:pp. 416-429
Status:Published
Keywords:Compliance Control, flexible joint robots, impedance control, passivity-based control
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):W - Vorhaben DLR-Leichtbau-Roboter III (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:23 Mar 2009
Last Modified:12 Dec 2013 20:32

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