Open access

Cartesian Impedance Control of Flexible Joint Robots: A Decoupling Approach

Written By

Christian Ott, Alin Albu Schaffer, Andreas Kugi and Gerd Hirzinger

Published: 01 July 2005

DOI: 10.5772/4675

From the Edited Volume

Cutting Edge Robotics

Edited by Vedran Kordic, Aleksandar Lazinica and Munir Merdan

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Written By

Christian Ott, Alin Albu Schaffer, Andreas Kugi and Gerd Hirzinger

Published: 01 July 2005