Cartesian Impedance Control Techniques for Torque Controlled Light-Weight Robots


The paper compares various approaches to implementing a compliant Cartesian behavior for robotic manipulators: impedance, admittance and stiffness control. A new controller structure is proposed, which consists of an impedance controller enhanced by local stiffness control. This structure consistently takes into account the two time scale property of the… (More)
DOI: 10.1109/ROBOT.2002.1013433


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