On the Passivity-Based Impedance Control of 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...

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.

Robust Fractional-order Control of Flexible-Joint Electrically Driven Robots

This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...

Robust Fractional-order Control of Flexible-Joint Electrically Driven Robots

This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...

Cartesian Impedance Control of Flexible Joint Robots: A Decoupling Approach