nullify
发表于 2025-3-25 03:21:31
A Passivity Based Approach,], where the stability analysis for a Cartesian hybrid position/force controller for a flexible joint robot model without gravitational effects was presented. The gravity compensation problem for PD-like regulation controllers was addressed in .
存在主义
发表于 2025-3-25 09:02:20
Introduction, kind of applications the robotic systems are desired to be built up very light. Consequently, these systems usually have considerable elasticity. Therefore, the need for control strategies arises which take account not only of the rigid body dynamics but also of the joint flexibility.
未完成
发表于 2025-3-25 14:10:51
Modeling of Flexible Joint Robots,nd a . elasticity in the joints which is usually caused by the gears of the robot. For the former an infinite dimensional model, called ., can be derived based on the usual assumptions of the Euler-Bernoulli beam . The latter, instead, leads to a finite dimensional model, called ..
Detain
发表于 2025-3-25 18:23:56
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溺爱
发表于 2025-3-25 23:13:47
Applications,s were designed. In this presentation, consequently, only a rough description of the applications is given and the emphasis lies on the application of the Cartesian impedance controllers. Besides that also the generality of the impedance control concept for the use in manipulation tasks becomes visible.
ALTER
发表于 2025-3-26 03:27:28
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Infusion
发表于 2025-3-26 04:39:45
https://doi.org/10.1007/978-0-230-61278-5in more detail by experiments with the DLR-Lightweight-Robot-II. Contrary to typical industrial robots, this robot is equipped with joint torque sensors and is thus very well suited for the implementation of the presented controllers.
BILIO
发表于 2025-3-26 12:06:09
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中子
发表于 2025-3-26 12:58:33
Evaluation,in more detail by experiments with the DLR-Lightweight-Robot-II. Contrary to typical industrial robots, this robot is equipped with joint torque sensors and is thus very well suited for the implementation of the presented controllers.
harpsichord
发表于 2025-3-26 18:06:34
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