Cartesian Compliant Control Strategies for Light-Weight, Flexible Joint Robots

  • Alin Albu-Schäffer
  • Gerd Hirzinger
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 4)


The paper focuses on theoretical and experimental aspects related to the Cartesian compliant control of flexible joint robots with joint torque measurement. While the Cartesian impedance control for rigid robots, as well as the joint level control of flexible joint robots have been studied in detail, their combined implementation on robots with six or seven joints still leaves many open questions from a practical point of view. On the other hand, from a theoretical point of view it is not always possible to prove the stability of simpler, practically implementable controller structures. The solutions chosen for the DLR robots, as well as some experimental results are presented.


Admittance Control Joint Torque Impedance Control Motor Torque Controller Structure 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  • Alin Albu-Schäffer
    • 1
  • Gerd Hirzinger
    • 1
  1. 1.DLR Oberpfaffenhofen, German Aerospace CenterInstitute of Robotics and MechatronicsGermany

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