Titlebook: Cartesian Impedance Control of Redundant and Flexible-Joint Robots; Christian Ott Book 2008 Springer-Verlag Berlin Heidelberg 2008 Cartesi

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A Passivity Based Approach,], where the stability analysis for a Cartesian hybrid position/force controller for a flexible joint robot model without gravitational effects was presented. The gravity compensation problem for PD-like regulation controllers was addressed in [DLSZ05, ZSL+03, ZLS04, ZSL+05].

存在主義

Introduction, kind of applications the robotic systems are desired to be built up very light. Consequently, these systems usually have considerable elasticity. Therefore, the need for control strategies arises which take account not only of the rigid body dynamics but also of the joint flexibility.

未完成

Modeling of Flexible Joint Robots,nd a . elasticity in the joints which is usually caused by the gears of the robot. For the former an infinite dimensional model, called ., can be derived based on the usual assumptions of the Euler-Bernoulli beam [dWSB96]. The latter, instead, leads to a finite dimensional model, called ..

Detain

溺愛

Applications,s were designed. In this presentation, consequently, only a rough description of the applications is given and the emphasis lies on the application of the Cartesian impedance controllers. Besides that also the generality of the impedance control concept for the use in manipulation tasks becomes visible.

ALTER

Infusion

https://doi.org/10.1007/978-0-230-61278-5in more detail by experiments with the DLR-Lightweight-Robot-II. Contrary to typical industrial robots, this robot is equipped with joint torque sensors and is thus very well suited for the implementation of the presented controllers.

BILIO

中子

Evaluation,in more detail by experiments with the DLR-Lightweight-Robot-II. Contrary to typical industrial robots, this robot is equipped with joint torque sensors and is thus very well suited for the implementation of the presented controllers.

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