Prentice-Hall / Prentice Hall International Inc. / CRC Press / /
Country
Italy / Australia / /
Currency
pence / ITL / / /
Facility
Alin Albu-Sch¨affer Gerd Hirzinger DLR Oberpfaffenhofen German Aerospace Research Center Institute of Robotics / /
IndustryTerm
online computation / control algorithms / earlier standard applications / passive systems / energy function / point signal processor / kinetic energy / potential energy / strain gauge technology / involved control algorithms / force-feedback systems / energy corresponding / gravity potential energy / control law / energy / /
Organization
World Congress / Alin Albu-Sch¨affer Gerd Hirzinger DLR Oberpfaffenhofen German Aerospace Research Center Institute of Robotics / /
Person
R. Kelly / /
Position
Simple PD Controller / variable gain controller / simple / fixed gain controller / the arm / joint controller / complete feedback linearization controller / simple and robust controller / State feedback controller / impedance controller / stiff position controller / joint torque controller / fixed gain controller / driving PM / PD controller / robot controller / PD controller for both robots / General / gain and variable gain controller / feedback linearization controller / joint state feedback controller / order state feedback controller / controller / resulting torque controller / torque controller / proposed controller and a PD controller / /
PublishedMedium
The International Journal / /
Technology
involved control algorithms / strain gauge technology / control algorithms / floating point signal processor / simulation / CAD / /
State feedback controller for flexible joint robots: A globally stable approach implemented on DLR’s light-weight robots Alin Albu-Sch¨affer Gerd Hirzinger