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A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots

Albu-Schäffer, Alin and Ott, Christian and Hirzinger, Gerd (2007) A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 26 (1), pp. 23-39. SAGE PUBLICATIONS LTD. ISSN 0278-3649

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Item URL in elib:https://elib.dlr.de/51174/
Document Type:Article
Title:A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Albu-Schäffer, AlinUNSPECIFIEDUNSPECIFIED
Ott, ChristianUNSPECIFIEDUNSPECIFIED
Hirzinger, GerdUNSPECIFIEDUNSPECIFIED
Date:3 January 2007
Journal or Publication Title:INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Volume:26
Page Range:pp. 23-39
Editors:
EditorsEmail
Hollerbach, JohnUNSPECIFIED
Publisher:SAGE PUBLICATIONS LTD
ISSN:0278-3649
Status:Published
Keywords:Position, Torque, Impedance Control, Flexible Joint Robots
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 (until 2012) > Robotic Systems
Deposited By: Beinhofer, Gabriele
Deposited On:31 Aug 2007
Last Modified:27 Apr 2009 14:20

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