Abstract
In the previous chapters the impedance control problem was analyzed for a rigid body robot model, in which the joint elasticity was neglected. In contrast to this, the flexible joint robot model from Section 2.2.3 will be considered now.
This chapter deals with the singular perturbation approach. This is an approximate method designed for systems which possess a so-called two-time-scale-property. This means that the system can be virtually split up into two coupled subsystems which describe a faster and a slower part. The singular perturbation theory then allows to make stability conclusions out of the properties of the separated subsystems, similarly to the procedure of the analysis of cascaded control systems in the linear case. It also provides the theoretical justification for neglecting un-modeled “high frequency” dynamics.
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© 2008 Springer-Verlag Berlin Heidelberg
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Ott, C. (2008). The Singular Perturbation Approach. 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_5
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DOI: https://doi.org/10.1007/978-3-540-69255-3_5
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-69253-9
Online ISBN: 978-3-540-69255-3
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