A unified passivity based control framework for position, torque and impedance control of flexible joint robots
DOI10.1007/978-3-540-48113-3_2zbMATH Open1189.93096OpenAlexW2985093159MaRDI QIDQ3564044FDOQ3564044
Authors: Alin Albu-Schäffer, Christian Ott, Gerd Hirzinger 
Publication date: 2 June 2010
Published in: Springer Tracts in Advanced Robotics (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1007/978-3-540-48113-3_2
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flexible joint robotsdesign of impedance controllerspassivity based framework for the controltorque feedback loop
Sensitivity (robustness) (93B35) Control problems involving ordinary differential equations (34H05) Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85)
Cited In (21)
- A new development for the Tikhonov Theorem in nonlinear singular perturbation systems
- Passivity‐based adaptive control of a 2‐DOF serial robot manipulator with temperature dependent joint frictions
- Dynamic Feedback Control of XYn?? Planar Robots with n Rotational Passive Joints
- Online learning and control of attraction basins for the development of sensorimotor control strategies
- Variable stiffness mechanism for human-friendly robots
- An atlas of physical human-robot interaction
- Iterative learning impedance control for rehabilitation robots driven by series elastic actuators
- Guaranteeing stable tracking of hybrid position-force trajectories for a robot manipulator interacting with a stiff environment
- Robust passive tracking control for an uncertain soft actuator using robust right coprime factorization
- Robust control of a system with a pneumatic spring
- Robot impedance control and passivity analysis with inner torque and velocity feedback loops
- Dynamics modelling and hybrid suppression control of space robots performing cooperative object manipulation
- Practical tracking control under actuator saturation for a class of flexible-joint robotic manipulators driven by DC motors
- Passivity analysis for flexible multilink space manipulators
- Robust control design for rigid-link flexible-joint electrically driven robot subjected to constraint: theory and experimental verification
- Passivity-based switching control of flexible-joint complementarity mechanical systems
- Symplectic discrete-time energy-based control for nonlinear mechanical systems
- Swing-up control based on virtual composite links for \(n\)-link underactuated robot with passive first joint
- Contraction analysis of nonlinear noncausal iterative learning control
- Robust impedance control for SEAs
- Impedance control of robots using voltage control strategy
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