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Robotics Research pp 5–21Cite as

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

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Part of the Springer Tracts in Advanced Robotics book series (STAR,volume 28)

Abstract

In this paper we describe a general passivity based framework for the control of flexible joint robots. Herein the recent DLR results on torque-, position-, as well as impedance control of flexible joint robots are summarized, and the relations between the individual contributions are highlighted. It is shown that an inner torque feedback loop can be incorporated into a passivity based analysis by interpreting torque feedback in terms of shaping of the motor inertia. This result, which implicitly was already included in our earlier works on torque- and position control, can also be seized for the design of impedance controllers. For impedance control, furthermore, potential shaping is of special interest. It is shown how, based only on the motor angles, a potential function can be designed which simultaneously incorporates gravity compensation and a desired Cartesian stiffness relation for the link angles.

Keywords

  • Joint Torque
  • Impedance Control
  • Motor Position
  • Gravity Compensation
  • Impedance Controller

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  • DOI: 10.1007/978-3-540-48113-3_2
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Author information

Authors and Affiliations

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

    Alin Albu-Schäffer, Christian Ott & Gerd Hirzinger

Authors
  1. Alin Albu-Schäffer
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  2. Christian Ott
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  3. Gerd Hirzinger
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Editor information

Editors and Affiliations

  1. Department of Computer Science, Stanford University, CA, 94305-9045, Stanford, USA

    Dr. Sebastian Thrun

  2. MIT Computer Science & Artificial Intelligence Laboratory (CSAIL), 32 Vassar Street, MA, 02139, Cambridge, USA

    Dr. Rodney Brooks

  3. Australian Centre for Field Robotics, University of Sydney, 2006, Sydney, Australia

    Dr. Hugh Durrant-Whyte

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© 2007 Springer-Verlag Berlin Heidelberg

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Albu-Schäffer, A., Ott, C., Hirzinger, G. (2007). A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots. In: Thrun, S., Brooks, R., Durrant-Whyte, H. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 28. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-48113-3_2

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  • DOI: https://doi.org/10.1007/978-3-540-48113-3_2

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-48110-2

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