A Passivity Based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation

C. Ott; A. Albu-Schaffer; A. Kugiy; Stefano Stramigioli; G. Hirzinger

doi:10.1109/ROBOT.2004.1307462

A Passivity Based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation

C. Ott, A. Albu-Schaffer, A. Kugiy, Stefano Stramigioli, G. Hirzinger

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

150 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings of the ICRA 2004
Place of Publication	New Orleans
Publisher	OmniPress
Pages	2659-2665
ISBN (Print)	0-7803-8233-1
DOIs	https://doi.org/10.1109/ROBOT.2004.1307462
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

Conference	2004 IEEE International Conference on Robotics and Automation, ICRA 2004
Abbreviated title	ICRA
Country/Territory	United States
City	New Orleans
Period	26/04/04 → 1/05/04

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10.1109/ROBOT.2004.1307462

Cite this

@inproceedings{e7dc8a43276a49a4a5531e52f68aad78,

title = "A Passivity Based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation",

abstract = "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.",

author = "C. Ott and A. Albu-Schaffer and A. Kugiy and Stefano Stramigioli and G. Hirzinger",

year = "2004",

month = apr,

day = "26",

doi = "10.1109/ROBOT.2004.1307462",

language = "English",

isbn = "0-7803-8233-1",

pages = "2659--2665",

booktitle = "Proceedings of the ICRA 2004",

publisher = "OmniPress",

note = "2004 IEEE International Conference on Robotics and Automation, ICRA 2004, ICRA ; Conference date: 26-04-2004 Through 01-05-2004",

}

Ott, C, Albu-Schaffer, A, Kugiy, A, Stramigioli, S & Hirzinger, G 2004, A Passivity Based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation. in Proceedings of the ICRA 2004. OmniPress, New Orleans, pp. 2659-2665, 2004 IEEE International Conference on Robotics and Automation, ICRA 2004, New Orleans, Louisiana, United States, 26/04/04. https://doi.org/10.1109/ROBOT.2004.1307462

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T1 - A Passivity Based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation

AU - Ott, C.

AU - Albu-Schaffer, A.

AU - Kugiy, A.

AU - Stramigioli, Stefano

AU - Hirzinger, G.

PY - 2004/4/26

Y1 - 2004/4/26

N2 - 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.

AB - 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.

U2 - 10.1109/ROBOT.2004.1307462

DO - 10.1109/ROBOT.2004.1307462

M3 - Conference contribution

SN - 0-7803-8233-1

SP - 2659

EP - 2665

BT - Proceedings of the ICRA 2004

PB - OmniPress

CY - New Orleans

T2 - 2004 IEEE International Conference on Robotics and Automation, ICRA 2004

Y2 - 26 April 2004 through 1 May 2004

ER -

A Passivity Based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation

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