Joint Robots A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible

[1]  Alessandro De Luca,et al.  Compliance Control for an Anthropomorphic Robot with Elastic Joints: Theory and Experiments , 2005 .

[2]  Alin Albu-Schäffer,et al.  Constructive Energy Shaping Based Impedance Control for a Class of Underactuated Euler-Lagrange Systems , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[3]  Christian Ott,et al.  Passivity Based Cartesian Impedance Control for Flexible Joint Manipulators , 2004 .

[4]  Alin Albu-Schäffer,et al.  A passivity based Cartesian impedance controller for flexible joint robots - part II: full state feedback, impedance design and experiments , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[5]  Alin Albu-Schäffer,et al.  A passivity based Cartesian impedance controller for flexible joint robots - part I: torque feedback and gravity compensation , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[6]  Michael R. Zinn,et al.  A New Actuation Approach for Human Friendly Robot Design , 2004, Int. J. Robotics Res..

[7]  Alin Albu-Schäffer,et al.  Cartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[8]  Alin Albu-Schäffer,et al.  Comparison of adaptive and nonadaptive tracking control laws for a flexible joint manipulator , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[9]  Woosoon Yim,et al.  Adaptive control of a flexible joint manipulator , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[10]  Alin Albu-Schäffer,et al.  On a new generation of torque controlled light-weight robots , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[11]  Alin Albu-Schäffer,et al.  A globally stable state feedback controller for flexible joint robots , 2001, Adv. Robotics.

[12]  Alessandro De Luca.  Feedforward/Feedback Laws for the Control of Flexible Robots , 2000, ICRA.

[13]  Imin Kao,et al.  Simulation of conservative congruence transformation. Conservative properties in the joint and Cartesian spaces , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[14]  Rafael Kelly,et al.  Global regulation of elastic joint robots based on energy shaping , 1998, IEEE Trans. Autom. Control..

[15]  P. Wenger.  Classification of 3R positioning manipulators , 1998 .

[16]  Rafael Kelly,et al.  PD Control with Desired Gravity Compensation of Robotic Manipulators , 1997, Int. J. Robotics Res..

[17]  Joris De Schutter,et al.  Adaptive control of mixed rigid/flexible joint robot manipulators based on virtual decomposition , 1997, Proceedings of International Conference on Robotics and Automation.

[18]  Romeo Ortega,et al.  A class of output feedback globally stabilizing controllers for flexible joints robots , 1995, IEEE Trans. Robotics Autom..

[19]  Rogelio Lozano,et al.  Global tracking controllers for flexible-joint manipulators: a comparative study , 1995, Autom..

[20]  Lin Tian,et al.  Robust adaptive control of flexible joint robots with joint torque feedback , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[21]  Mark W. Spong,et al.  Adaptive control of flexible joint manipulators: Comments on two papers , 1995, Autom..

[22]  Oussama Khatib,et al.  Inertial Properties in Robotic Manipulation: An Object-Level Framework , 1995, Int. J. Robotics Res..

[23]  Patrizio Tomei,et al.  A method to design adaptive controllers for flexible joint robots , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[24]  P. Tomei.  A simple PD controller for robots with elastic joints , 1991 .

[25]  Joel W. Burdick,et al.  A classification of 3R regional manipulator singularities and geometries , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[26]  Fathi H. Ghorbel,et al.  Adaptive control of flexible-joint manipulators , 1989, IEEE Control Systems Magazine.

[27]  M. Spong.  Modeling and Control of Elastic Joint Robots , 1987 .

[28]  Suguru Arimoto,et al.  A New Feedback Method for Dynamic Control of Manipulators , 1981 .

[29]  Antonio Bicchi,et al.  Variable Stiffness Actuators for Fast and Safe Motion Control , 2003, ISRR.

[30]  A. Albu-Schäffer.  Regelung von Robotern mit elastischen Gelenken am Beispiel der DLR-Leichtbauarme , 2002 .

[31]  Shigeki Sugano,et al.  Development of human symbiotic robot: WENDY , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).