DLR RMC - Part 2. Mechanical Impedance Control: What The Beast Is And How They Prepare It

Link to the original source - there is more order with the design, especially for videos.

Content

• Introduction
• Mechanical impedance control: concepts
• Dynamics model
• Impedance control in generalized coordinates
• Impedance control in Cartesian coordinates
• Gravity compensation
• Visco-elastic hinges
• Conclusion

Es ist noch kein Meister vom Himmel gefallen,

or

Not gods burn pots

Proverb

Introduction

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1. ↑., : A Passivity Based Cartesian Impedance Controller for Flexible Joint Robots — Part I: Torque Feedback and Gravity Compensation,
   
   On the Passivity-Based Impedance Control of Flexible Joint Robots,
   
   A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots
   
   .
2. ↑Impedance control — Wikipedia
3. ↑N. Hogan. Impedance Control: An Approach to Manipulation: Part 1 — Theory, Part II — Implementation, Part III — Applications
4. ↑., : , . . . . — .: , 1990. — 526 .: . ISBN 5-03-001375-X ( 5)
5. ↑. [3]
6. ↑ , , (VII) :
   
   
   
   
   
   . .
   
   , - .
7. ↑Implementation of impedance trajectory control on a 6-DoF manipulator
8. ↑Elastic Structure Preserving (ESP) Control for Compliantly Actuated Robots
9. Impedance Control for Soft Robots — Youtube- DLR RMC
10. Youtube- KUKA
11. Justin Humanoid Robot with DLR III arms and DLR II hands — Youtube- Hizook
12. Joint Impedance Control with Kuka lwr — Youtube- Hamid Sadeghian
13. Cartesian Impedance Control wwith KUKA LWR — Youtube- Hamid Sadeghian