Titlebook: Cartesian Impedance Control of Redundant and Flexible-Joint Robots; Christian Ott Book 2008 Springer-Verlag Berlin Heidelberg 2008 Cartesi

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Portfolioselektion des Fondsmanagers,as mechanical multi-body systems, where several rigid bodies are connected by actuated joints. In the past few years the robotics community evolved growing interest in robots which are designed for the use in service robotics scenarios, in which the robots will have to work close to humans. For this

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Performancemessung des Kapitalgebers,ial kinematic chain without loops. Furthermore, the links of the robot are assumed to be connected either by revolute or prismatic joints.When deriving a dynamical model of elastic robots basically two different sources of elasticity can be distinguished. The . elasticity caused by the robot links a

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Performancemessung des Kapitalgebers,ates (.). The DLR lightweight robots, instead, have . joints, while the end-effector motion is described only by . degrees-of-freedom. The remaining . degrees-of-freedom can be used for so-called . that keep the end-effector fixed. Therefore, the question arises how to control these . degrees-of-fre

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Performancemessung des Kapitalgebers,roblem of Cartesian impedance control. The main disadvantage of the singular perturbation approach is that only very weak stability statements can be made. The reason for this is that in the singular perturbation analysis some coupling terms between the slow and the fast dynamics are neglected. In t

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R. Ravasio,R. W. Dal Negro,C. Lucioniulation is a physical interpretation of the torque feedback. This allows to analyze the stability based on the passivity properties of the system..The energy shaping methodology for flexible joint robots was first introduced in [Tom91], where it was proven that a motor position based PD-controller l

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