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Practical Consequences of Inertia Shaping for Interaction and Tracking in Robot Control

Dietrich, Alexander and Wu, Xuwei and Bussmann, Kristin and Harder, Marie Christin and Iskandar, Maged Samuel Zakri and Englsberger, Johannes and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2021) Practical Consequences of Inertia Shaping for Interaction and Tracking in Robot Control. Control Engineering Practice, 114. Elsevier. doi: 10.1016/j.conengprac.2021.104875. ISSN 0967-0661.

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Item URL in elib:https://elib.dlr.de/142847/
Document Type:Article
Title:Practical Consequences of Inertia Shaping for Interaction and Tracking in Robot Control
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Dietrich, AlexanderAlexander.Dietrich (at) dlr.dehttps://orcid.org/0000-0003-3463-5074
Wu, XuweiXuwei.Wu (at) dlr.deUNSPECIFIED
Bussmann, KristinKristin.Bussmann (at) dlr.deUNSPECIFIED
Harder, Marie ChristinMarie.Harder (at) dlr.deUNSPECIFIED
Iskandar, Maged Samuel ZakriMaged.Iskandar (at) dlr.deUNSPECIFIED
Englsberger, JohannesJohannes.Englsberger (at) dlr.dehttps://orcid.org/0000-0002-8117-2650
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Date:September 2021
Journal or Publication Title:Control Engineering Practice
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:114
DOI :10.1016/j.conengprac.2021.104875
Publisher:Elsevier
ISSN:0967-0661
Status:Published
Keywords:Robotics, control, feedback linearization, inertia shaping, PD+, natural inertia
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Dietrich, Dr.-Ing. Alexander
Deposited On:28 Jun 2021 09:51
Last Modified:24 May 2022 23:47

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