scholarly journals Cartesian Impedance Control of Flexible Joint Robots: A Decoupling Approach

10.5772/4675 ◽  
2005 ◽  
Author(s):  
Christian Ott ◽  
Alin Albu ◽  
Andreas Kugi ◽  
Gerd Hirzinger
Keyword(s):  
Impedance Control ◽  
Flexible Joint ◽  
Flexible Joint Robots ◽  
Decoupling Approach

Dynamic surface control-backstepping based impedance control for 5-DOF flexible joint robots

2010 ◽  
Vol 17 (4) ◽  
pp. 807-815 ◽  
Author(s):  
Gen-liang Xiong ◽  
Zong-wu Xie ◽  
Jian-bin Huang ◽  
Hong Liu ◽  
Zai-nan Jiang ◽  
...  
Keyword(s):  
Impedance Control ◽  
Dynamic Surface Control ◽  
Dynamic Surface ◽  
Flexible Joint ◽  
Flexible Joint Robots ◽  
Surface Control

scholarly journals On the Passivity-Based Impedance Control of Flexible Joint Robots

2008 ◽  
Vol 24 (2) ◽  
pp. 416-429 ◽  
Author(s):  
C. Ott ◽  
A. Albu-Schaffer ◽  
A. Kugi ◽  
G. Hirzinger
Keyword(s):  
Impedance Control ◽  
Flexible Joint ◽  
Flexible Joint Robots
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