A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots-Reference-Cited by-同舟云学术

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

Published: Issue: Volume: Page:5-21
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Container-title:Springer Tracts in Advanced Robotics
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Author:

Albu-Schäffer Alin,Ott Christian,Hirzinger Gerd

Publisher

Springer Berlin Heidelberg

Link

http://link.springer.com/content/pdf/10.1007/978-3-540-48113-3_2.pdf

Reference22 articles.

1. A. Albu-Schäffer. Regelung von Robotern mit elastischen Gelenken am Beispiel der DLR-Leichtbauarme. PhD thesis, Technical University Munich, april 2002.

2. A. Albu-Schäffer and G. Hirzinger. A globally stable state-feedback controller for flexible joint robots. Journal of Advanced Robotics, Special Issue: Selected Papers from IROS 2000, 15(8):799–814, 2001.

3. A. Albu-Schäffer and G. Hirzinger. Cartesian impedance control techniques for torque controlled light-weight robots. IEEE International Conference of Robotics and Automation, pages 657–663, 2002.

4. A. Albu-Schäffer, C. Ott, and G. Hirzinger. Passivity based cartesian impedance control for flexible joint manipulators. Proc. 6-th IFAC-Symposium on Nonlinear Control Systems, Stuttgart, 2:111, 2004.

5. A. Albu-Schäffer, C. Ott, and G. Hirzinger. A passivity based cartesian impedance controller for flexible joint robots-part ii:full state feedback, impedance design and experiments. ICRA, pages pp. 2666–2673, 2004.

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