Cartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms

Albu‐Schäffer, Alin; Ott, Christian; Frese, Udo; Hirzinger, Gerd

doi:10.1109/robot.2003.1242165

Cited by 232 publications

(170 citation statements)

References 9 publications

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“…Knowledge of the inertia and stiffness parameters in (3.21) facilitates various methods from linear algebra theory in order to implement the desired damping ratios 2 . Here, the Double Diagonalization approach by Albu-Schäffer et al [ASOFH03] is applied. The damping matrix can be formally written as…”

Section: Damping Designmentioning

confidence: 99%

Whole-Body Impedance Control of Wheeled Humanoid Robots

Dietrich

2016

Springer Tracts in Advanced Robotics

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Section: Damping Designmentioning

confidence: 99%

Whole-Body Impedance Control of Wheeled Humanoid Robots

Dietrich

2016

Springer Tracts in Advanced Robotics

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“…The major concern regarding stability are the transient system properties when the platform comes in contact with the environment. The contact problem was investigated for both serial (Albu-Schaeffer et al, 2003;Raibert and Craig, 1981), and classical parallel robots Tang et al (2012). In Assuncao and Schumacher (2003) this problem is solved by a state machine based approach using acceleration and brake controllers for bringing the robot into contact.…”

Section: Referencesmentioning

confidence: 99%

Hybrid Position-Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation

et al. 2015

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Abstract. For cable-driven parallel robots elastic cables are used to manipulate a mobile platform in the workspace. In this paper, we present a hybrid position-force control, which allows for applying defined forces on the environment and simultaneous movement along the surface. We propose a synchronous control of the cable forces to ensure the stability of the platform during movement. The performance of the controller is experimentally investigated regarding contact establishment and dynamic behavior during a motion on the cable robot IPAnema 3.

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“…They argue that human-like compliant behaviour can be achieved using a combination of a serial manipulator equipped with sensorized joint actuators and control. The research being carried out at the DLR institute in Germany is a step ahead in the compliance control of robot arms 9,10,8 . The robotic platform developed at the DLR has good intrinsic compliance capabilities.…”

Section: Active Compliancementioning

confidence: 99%

Compliance Control and Human–Robot Interaction: Part 1 — Survey

Khan

Herrmann

Grafi

et al. 2014

Int. J. Human. Robot.

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Compliance control is highly relevant to human safety in human–robot interaction (HRI). This paper presents a review of various compliance control techniques. The paper is aimed to provide a good background knowledge for new researchers and highlight the current hot issues in compliance control research. Active compliance, passive compliance, adaptive and reinforcement learning-based compliance control techniques are discussed. This paper provides a comprehensive literature survey of compliance control keeping in view physical human robot interaction (pHRI) e.g., passing an object, such as a cup, between a human and a robot. Compliance control may eventually provide an immediate and effective layer of safety by avoiding pushing, pulling or clamping in pHRI. Emerging areas such as soft robotics, which exploit the deformability of biomaterial as well as hybrid approaches which combine active and passive compliance are also highlighted.

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Cartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms

Cited by 232 publications

References 9 publications

Whole-Body Impedance Control of Wheeled Humanoid Robots

Whole-Body Impedance Control of Wheeled Humanoid Robots

Hybrid Position-Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation

Compliance Control and Human–Robot Interaction: Part 1 — Survey

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