A unified passivity based control framework for position, torque and impedance control of flexible joint robots

DOI10.1007/978-3-540-48113-3_2MaRDI QIDQ3564044zbMATHOpenAlexFDO

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

zbMATH Keywords

flexible joint robotsdesign of impedance controllerspassivity based framework for the controltorque feedback loop

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Control problems involving ordinary differential equations (34H05) Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Adaptive control of flexible joint manipulators
• PD control of robot manipulators with joint flexibility, actuators dynamics and friction
• Adaptive control of flexible joint robots using position and velocity feedback
• Adaptive control of robot manipulators with flexible joints
• On the force control problem for flexible joint manipulators

Cited in

(21)

• Contraction analysis of nonlinear noncausal iterative learning control
• Variable stiffness mechanism for human-friendly robots
• 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
• Guaranteeing stable tracking of hybrid position-force trajectories for a robot manipulator interacting with a stiff environment
• Passivity‐based adaptive control of a 2‐DOF serial robot manipulator with temperature dependent joint frictions
• Online learning and control of attraction basins for the development of sensorimotor control strategies
• Robust impedance control for SEAs
• 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
• Robust passive tracking control for an uncertain soft actuator using robust right coprime factorization
• Passivity-based switching control of flexible-joint complementarity mechanical systems
• Robust control of a system with a pneumatic spring
• Impedance control of robots using voltage control strategy
• Dynamic Feedback Control of XYn?? Planar Robots with n Rotational Passive Joints
• Symplectic discrete-time energy-based control for nonlinear mechanical systems
• A new development for the Tikhonov Theorem in nonlinear singular perturbation systems
• Iterative learning impedance control for rehabilitation robots driven by series elastic actuators
• An atlas of physical human-robot interaction
• Swing-up control based on virtual composite links for \(n\)-link underactuated robot with passive first joint
• Robot impedance control and passivity analysis with inner torque and velocity feedback loops

This page was built for publication: A unified passivity based control framework for position, torque and impedance control of flexible joint robots

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q3564044)