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In this paper, a passivity-based controller with the link side on-line gravity compensation for elastic joints of robot manipulators is presented. In this study, a joint level position, torque control law with double loop construction: an outer the motor side position control, and an inner torque feedback are considered. In terms of torque feedback, a(More)
In this paper, a Cartesian admittance controller with on-line gravity and friction observer compensation based on passivity theory for elastic joint robots is proposed. For this study, a compliance and position controller for joint and Cartesian level has been described with dual loop construction: an outer-loop admittance control, and an inner-loop motor(More)
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