On the Passivity Based Impedance Control of Flexible Joint Robots

Ott, Christian and Albu-Schäffer, Alin and Kugi, A. and Hirzinger, Gerd (2008) On the Passivity Based Impedance Control of Flexible Joint Robots. IEEE Transactions on Robotics, pp. 416-429.

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Item URL in elib:

https://elib.dlr.de/55366/

Document Type:

Article

Title:

On the Passivity Based Impedance Control of Flexible Joint Robots

Authors:

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

Date:

2 April 2008

Journal or Publication Title:

IEEE Transactions on Robotics

Open Access:

Yes

Gold Open Access:

In SCOPUS:

In ISI Web of Science:

Page Range:

pp. 416-429

Status:

Published

Keywords:

Compliance Control, flexible joint robots, impedance control, passivity-based control

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:

23 Mar 2009

Last Modified:

31 Jul 2019 19:22

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