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

DOI10.1007/978-3-540-48113-3_2zbMath1189.93096OpenAlexW2985093159MaRDI QIDQ3564044

Alin Albu-Schäffer, Christian Ott, G. Hirzinger

Publication date: 2 June 2010

Published in: Springer Tracts in Advanced Robotics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-540-48113-3_2

zbMATH Keywords

flexible joint robotsdesign of impedance controllerspassivity based framework for the controltorque feedback loop

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85) Control problems involving ordinary differential equations (34H05)

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