Motor Cascade Position Controllers for Service Oriented Manipulators

  • Tomasz Winiarski
  • Michał Walęcki
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 267)


In the article a method is proposed to achieve some advantages of impedance control in the manipulators without direct torque controllers in joints, that is with indirect position–force control, position controlled joints and force–torque sensor in the wrist. The method is applicable to robots with backdrivable gears, where the external force exerted on the links causes the joints movement. The approach improves safety behaviour of a manipulator without the need for major changes in the hardware nor building a new robot, which is very important especially from the point of view of research systems.


service robot indirect force control controller design 


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  1. 1.Warsaw University of TechnologyWarsawPoland

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