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

Full text not available from this repository.

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:

Authors	Institution or Email of Authors	Authors ORCID iD
Albu-Schäffer, Alin	UNSPECIFIED	UNSPECIFIED
Ott, Christian	UNSPECIFIED	UNSPECIFIED
Hirzinger, Gerd	UNSPECIFIED	UNSPECIFIED

Date:

3 January 2007

Journal or Publication Title:

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Refereed publication:

Yes

Open Access:

Gold Open Access:

In SCOPUS:

In ISI Web of Science:

Yes

Volume:

Page Range:

pp. 23-39

Editors:

Editors	Email
Hollerbach, John	UNSPECIFIED

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

Repository Staff Only: item control page