In this paper a novel approach to the Cartesian impedance control problem for robots with flexible joints is presented. The proposed controller structure is based on simple physical considerations, which are motivating the extension of classical position feedback by an additional feedback of the joint torques. The torque feedback action can be interpreted as a scaling of the apparent motor inertia. Furthermore the problem of gravity compensation is addressed. Finally, it is shown that the closed loop system can be seen as a feedback interconnection of passive systems. Based on this passivity property a proof of asymptotic stability is presented.
|Title of host publication||Proceedings of the ICRA 2004|
|Place of Publication||New Orleans|
|Publication status||Published - 26 Apr 2004|
|Event||2004 IEEE International Conference on Robotics and Automation, ICRA 2004 - New Orleans, United States|
Duration: 26 Apr 2004 → 1 May 2004
|Conference||2004 IEEE International Conference on Robotics and Automation, ICRA 2004|
|Period||26/04/04 → 1/05/04|