Cartesian 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 stif...

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Bibliographic Details
Main Authors: Albu-Schaffer, A., Ott, C., Frese, U., Hirzinger, G.
Format: Conference Proceeding
Language:English
Subjects:
Arm
Damping
Impedance
Lighting control
Medical robotics
Robot control
Robot sensing systems
Sampling methods
Torque control
Weight control
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Summary: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 of the desired damping matrix. Finally, the proposed methods are validated through measurements on the DLR robot.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2003.1242165