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Passivity based on energy tank for cartesian impedance control of dlr space robot with floating base and elastic joints

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This paper presents a control structure for orbital servicing mission of CEASAR robotic arm developed by German Aerospace Center (DLR). In order to reduce mass the CEASAR arm is equipped with Harmonic-Drives with high ratio which unfortunately lead to high joint elasticity and high motor friction and have to be considered in controller design for successful manipulator in-orbit operations. | Passivity based on energy tank for cartesian impedance control of dlr space robot with floating base and elastic joints

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Passivity based on energy tank for cartesian impedance control of DLR space robots with floating base and elastic joints

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Passivity based on energy tank for cartesian impedance control of dlr space robot with floating base and elastic joints