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Joint-space Impedance Control using Intrinsic Parameters of Compliant Actuators and Inner Sliding Mode Torque Loop

Garofalo, Gianluca and Werner, Alexander and Loeffl, Florian Christoph and Ott, Christian (2019) Joint-space Impedance Control using Intrinsic Parameters of Compliant Actuators and Inner Sliding Mode Torque Loop. IEEE Control Systems Letters. IEEE - Institute of Electrical and Electronics Engineers. ISSN 2475-145

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Item URL in elib:https://elib.dlr.de/124000/
Document Type:Article
Title:Joint-space Impedance Control using Intrinsic Parameters of Compliant Actuators and Inner Sliding Mode Torque Loop
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Garofalo, Gianlucagianluca.garofalo (at) dlr.dehttps://orcid.org/0000-0002-7481-3464
Werner, AlexanderAlexander.Werner (at) dlr.deUNSPECIFIED
Loeffl, Florian ChristophFlorian.Loeffl (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:2019
Journal or Publication Title:IEEE Control Systems Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2475-145
Status:Published
Keywords:Robotics, control applications, variable- structure/sliding-mode contro
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Garofalo, Dr. Ing. Gianluca
Deposited On:03 Dec 2018 16:43
Last Modified:31 Jul 2019 20:21

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