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

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Art Is Indistinguishable from Life,e control indubitably is one of the core building blocks needed for the successful execution of advanced manipulation tasks [Hog85a, Hog85b, Hog85c, BS98]. Notice that in all the presented applications the Cartesian impedance control is only one part of a larger setup. In practice, therefore, the qu

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Nullspace Stiffness,ates (.). The DLR lightweight robots, instead, have . joints, while the end-effector motion is described only by . degrees-of-freedom. The remaining . degrees-of-freedom can be used for so-called . that keep the end-effector fixed. Therefore, the question arises how to control these . degrees-of-freedom.

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Cartesian Impedance Control of Redundant and Flexible-Joint Robots978-3-540-69255-3Series ISSN 1610-7438 Series E-ISSN 1610-742X

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https://doi.org/10.1007/978-3-540-69255-3Cartesian Impedance Control; Flexible-Joint Robots; Justin; Robot Control; mechatronics; modeling; robot; s

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