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

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    118 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 languageEnglish
    Title of host publicationProceedings of the ICRA 2004
    Place of PublicationNew Orleans
    PublisherOmniPress
    Pages2659-2665
    ISBN (Print)0-7803-8233-1
    DOIs
    Publication statusPublished - 26 Apr 2004
    Event2004 IEEE International Conference on Robotics and Automation, ICRA 2004 - New Orleans, United States
    Duration: 26 Apr 20041 May 2004

    Conference

    Conference2004 IEEE International Conference on Robotics and Automation, ICRA 2004
    Abbreviated titleICRA
    CountryUnited States
    CityNew Orleans
    Period26/04/041/05/04

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  • Cite this

    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 (pp. 2659-2665). New Orleans: OmniPress. https://doi.org/10.1109/ROBOT.2004.1307462