Skip to main content
SpringerLink
Log in

Cartesian Compliant Control Strategies for Light-Weight, Flexible Joint Robots

  • Chapter
  • First Online:
Control Problems in Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 4))

Abstract

The paper focuses on theoretical and experimental aspects related to the Cartesian compliant control of flexible joint robots with joint torque measurement. While the Cartesian impedance control for rigid robots, as well as the joint level control of flexible joint robots have been studied in detail, their combined implementation on robots with six or seven joints still leaves many open questions from a practical point of view. On the other hand, from a theoretical point of view it is not always possible to prove the stability of simpler, practically implementable controller structures. The solutions chosen for the DLR robots, as well as some experimental results are presented.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 84.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 109.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. A. Albu-Schäffer. Regelung von Robotern mit elastischen Gelenken am Beispiel der DLR-Leichtbauarme. PhD thesis, Technical University Munich, april 2002.

    Google Scholar 

  2. A. Albu-Schäffer and G. Hirzinger. A globally stable state-feedback controller for flexible joint robots. Journal of Advanced Robotics, Special Issue: Selected Papers from IROS 2000, 15(8):799–814, 2001.

    Google Scholar 

  3. A. Albu-Schäffer, C. Ott, U. Frese, and G. Hirzinger. Cartesian impedance control of redundant robots: Recent results with the dlr-light-weight-arms. submitted to ICRA, 2003.

    Google Scholar 

  4. B. Brogliato, R. Ortega, and R. Lozano. Global tracking controllers for flexible-joint manipulators: a comparative study. Automatica, 31(7):941–956, 1995.

    Article  MATH  MathSciNet  Google Scholar 

  5. F. Caccavale, C. Natale, B. Siciliano, and L. Villani. Six-dof impedance control based on angle/axis representations. IEEE Transactions on Robotics and Automation, 15(2):289–299, 1999.

    Article  Google Scholar 

  6. S. Chen and I. Kao. Theory of stiffness control in robotics using the conservative congruence transformation. International Symposium of Robotics Research, pages 7–14, 1999.

    Google Scholar 

  7. C. Ott, A. Albu-Schäffer, A. Kugi, and G. Hirzinger. Impedance control for flexible joint robots. Submitted to ICRA 2003, 2002.

    Google Scholar 

  8. G. Hirzinger, A. Albu-Schäffer, M. Hähnle, I. Schaefer, and N. Sporer. On a new generation of torque controlled light-weight robots. IEEE International Conference of Robotics and Automation, pages 3356–3363, 2001.

    Google Scholar 

  9. N. Hogan. Mechanical impedance of single-and multi-articular systems. In J.M. Winters and S. Woo, editors, Multiple Muscle Systems: Biomechanics and Muscle Organization, pages 149–163. Springer-Verlag, New York, 1990.

    Google Scholar 

  10. O. Khatib. A unified approach for motion and force control of robot manipulators: The operational space formulation. RA, RA-3:43–53, 1987.

    Google Scholar 

  11. R. Koeppe and G. Hirzinger. From human arms to a new generation of manipulators: Control and design principles. ASME Int. Mechanical Engineering Congress, 2001.

    Google Scholar 

  12. T. Lin and A.A. Goldenberg. Robust adaptive control of flexible joint robots with joint torque feedback. IEEE International Conference of Robotics and Automation, RA-3(4):1229–1234, 1995.

    Google Scholar 

  13. A. De Luca. Feedforward/feedback laws for the control of flexible robots. IEEE International Conference of Robotics and Automation, pages 233–240, 2000.

    Google Scholar 

  14. C. Ott, A. Albu-Schäffer, and G. Hirzinger. Comparison of adaptive and nonadaptive tracking control laws for a flexible joint manipulator. IROS, 2002.

    Google Scholar 

  15. J. K. Salisbury. Active stiffness control of a manipulator in cartesian coordinates. 19th IEEE Conference on Decision and Control, pages 83–88, 1980.

    Google Scholar 

  16. M. Spong. Modeling and control of elastic joint robots. IEEE Journal of Robotics and Automation, RA-3(4):291–300, 1987.

    Article  MathSciNet  Google Scholar 

  17. M. Spong. Adaptive control of flexible joint manipulators: Comments on two papers. Automatica, 31(4):585–590, 1995.

    Article  MATH  MathSciNet  Google Scholar 

  18. S. Stramigioli and H. Bruyninckx. Geometry and screw theory for constrained and unconstrained robot. Tutorial at ICRA, 2001.

    Google Scholar 

  19. S. Sugano. Human-robot symbiosis. Workshop on Human-Robot Interaction, ICRA, 2002.

    Google Scholar 

  20. P. Tomei. A simple PD controller for robots with elastic joints. IEEE Transactions on Automatic Control, 36(10):1208–1213, 1991.

    Article  MathSciNet  Google Scholar 

  21. M. Zinn, O. Khatib, B. Roth, and J.K. Salisbury. A new actuation approach for human friendly robot design. Int. Symp. on Experimental Robotics, Ischia, 2002.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. DLR Oberpfaffenhofen, German Aerospace Center, Institute of Robotics and Mechatronics, Germany

    Alin Albu-Schäffer & Gerd Hirzinger

Authors
  1. Alin Albu-Schäffer
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Gerd Hirzinger
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Centro Interdipartimentale di Ricerca, “Enrico Piaggio”, Università di Pisa, Via Diotisalvi, 2, 56100, Pisa, Italy

    Antonio Bicchi

  2. Dipartimento di Ingegneria dell’Informazione Facoltà di Ingegnerici, Università di Siena, Via Roma, 56, 53100, Siena, Italy

    Domenico Prattichizzo

  3. Centre for Autonomous Systems CVAP/NADA, Kungliga Tekniska Högskolan, 10044, Stockholm, Sweden

    Henrik Iskov Christensen

Rights and permissions

Reprints and permissions

Copyright information

© 2003 Springer-Verlag Berlin Heidelberg

About this chapter

Cite this chapter

Albu-Schäffer, A., Hirzinger, G. (2003). Cartesian Compliant Control Strategies for Light-Weight, Flexible Joint Robots. In: Bicchi, A., Prattichizzo, D., Christensen, H.I. (eds) Control Problems in Robotics. Springer Tracts in Advanced Robotics, vol 4. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36224-X_9

Download citation

  • DOI: https://doi.org/10.1007/3-540-36224-X_9

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-00251-2

  • Online ISBN: 978-3-540-36224-1

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation