Abstract
In Chapter 5 to 7 several control approaches for implementing a Cartesian impedance behavior with a flexible joint robot were discussed in detail. An experimental evaluation of these controllers was already presented in Chapter 8. Finally, an overall comparison highlighting the respective advantages and disadvantages of the presented control approaches shall be given in this concluding Chapter. Table 10.1 summarizes the properties of the different controllers. Such a comparison clearly is in some aspects subjective and therefore the following few comments on the ratings are necessary.
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© 2008 Springer-Verlag Berlin Heidelberg
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Ott, C. (2008). Controller Comparison and Conclusions. In: Cartesian Impedance Control of Redundant and Flexible-Joint Robots. Springer Tracts in Advanced Robotics, vol 49. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-69255-3_10
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DOI: https://doi.org/10.1007/978-3-540-69255-3_10
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-69253-9
Online ISBN: 978-3-540-69255-3
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