منابع مشابه
Light - weight robots From Scholarpedia
Light-weight robots are robots especially designed for mobility and interaction with a priori unknown environments and with humans. These applications pose the requirements of a light-weight design with high load to weight ratio and high motion velocity (close to the approximately 1:1 ratio of human arms at a tip velocity of 6m/s). Further, they require a modular, integrated mechanical and elec...
متن کاملOn a New Generation of Torque Controlled Light-Weight Robots
The paper describes the recent design and development efforts in DLR ́s robotics lab towards the second generation of light-weight robots. The design of the lightweight mechanics, integrated sensors and electronics is outlined. The fully sensorized joint, with motor and link position sensors as well as joint torque sensors enables the implementation of effective vibration damping and advanced co...
متن کاملCartesian Impedance Control Techniques for Torque Controlled Light-Weight Robots
The paper compares various approaches to implementing a compliant Cartesian behavior for robotic manipulators: impedance, admittance and stiffness control. A new controller structure is proposed, which consists of an impedance controller enhanced by local stiffness control. This structure consistently takes into account the two time scale property of the joint and Cartesian control loops. The D...
متن کاملState feedback controller for flexible joint robots: a globally stable approach implemented on DLR's light-weight robots
The paper addresses the problem of controlling the joints of an flexible joint robot with a state feedback controller and proposes a gradual way of extending such a controller towards feedback linearization. The global asymptotic stability for the state feedback controller with gravity compensation is proven. Experimental results on the DLR light-weight robots validate the method.
متن کاملCartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms
This paper addresses the problem of impedance control for flexible joint robots based on a singular perturbation approach. Some aspects of the impedance controller, which turned out to be of high practical relevance during applications are then addressed, such as the implementation of nullspace stiffness for redundant manipulators, the avoiding of mass matrix decoupling and the related design o...
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ژورنال
عنوان ژورنال: Scholarpedia
سال: 2008
ISSN: 1941-6016
DOI: 10.4249/scholarpedia.3889