Kartesische Impedanzregelung von Robotern mit elastischen Gelenken: Ein passivitätsbasierter Ansatz (Cartesian Impedance Control of Flexible Joint Robots: A Passivity Based Approach)

Cartesian Impedance Control of Flexible Joint Robots: A Decoupling Approach

Decoupling based Cartesian impedance control of flexible joint robots

This paper addresses the impedance control problem for flexible joint manipulators. An impedance controller structure is proposed, which is based on an exact decoupling of the torque dynamics from the link dynamics. A formal stability analysis of the proposed controller is presented for the general tracking case. Preliminary experimental results are given for a single flexible joint.

Cartesian Impedance Control of Redundant and Flexible-Joint Robots

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

In this paper we describe a general passivity based framework for the control of flexible joint robots. Herein the recent DLR results on torque-, position-, as well as impedance control of flexible joint robots are summarized, and the relations between the individual contributions are highlighted. It is shown that an inner torque feedback loop can be incorporated into a passivity based analysis...

Ein Middleware-Kurs mit mobilen Robotern

Middleware-Systeme leisten einen entscheidenden Beitrag, um dynamische Gruppen von mobilen Systemen, Robotern und Geräten zu verwalten. Dieses Papier stellt einen Kurs mit JavaSpaces und Jini vor, einer frei verfügbaren Middleware von SUN für mobile Geräte. Der Kurs besteht aus einführenden Vorlesungen und einem studentischen Teamprojekt, in dem MiddlewareTechnologien zum Design und zur Umsetzu...