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

PDF
1MB

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:

Authors	Institution or Email of Authors	Authors ORCID iD
Garofalo, Gianluca	gianluca.garofalo (at) dlr.de	https://orcid.org/0000-0002-7481-3464
Werner, Alexander	Alexander.Werner (at) dlr.de	UNSPECIFIED
Loeffl, Florian Christoph	Florian.Loeffl (at) dlr.de	UNSPECIFIED
Ott, Christian	Christian.Ott (at) dlr.de	https://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:

In SCOPUS:

In ISI Web of Science:

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

Repository Staff Only: item control page