Cartesian Impedance Control of Redundant and Flexible-Joint Robots

  • Authors
  • Christian Ott

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 49)

Table of contents

  1. Front Matter
  2. Christian Ott
    Pages 1-11
  3. Christian Ott
    Pages 13-27
  4. Christian Ott
    Pages 45-63
  5. Christian Ott
    Pages 65-75
  6. Christian Ott
    Pages 93-121
  7. Christian Ott
    Pages 123-147
  8. Christian Ott
    Pages 149-164
  9. Christian Ott
    Pages 165-167
  10. Back Matter

About this book


This monograph is devoted to the classical topic of impedance control, which has recently seen renewed interest following advances in the mechanical design of lightweight robotic systems with improved actuation and sensing capabilities. After a general introduction into the topics of impedance control, the book focuses on two key issues, namely the treatment of joint flexibility and kinematic redundancy. Several control laws are developed based on mature approaches such as the singular perturbation theory, cascaded control theory, and passivity. The controllers are compared based on their conceptual potential as well as practical implementation issues. The evaluation was performed through several experiments with the DLR arms and the humanoid manipulator 'Justin'.


Cartesian Impedance Control Flexible-Joint Robots Justin Robot Control mechatronics modeling robot sensing

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Berlin Heidelberg 2008
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-540-69253-9
  • Online ISBN 978-3-540-69255-3
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • Buy this book on publisher's site
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