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Procedure for impedance-based multi-task tracking, impedance-based multi-task tracking controllers and power and/or torque-controlled robots
Procedure for impedance-based multi-task tracking, impedance-based multi-task tracking controllers and power and/or torque-controlled robots
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机译：基于阻抗的多任务跟踪，基于阻抗的多任务跟踪控制器和功率和/或扭矩控制机器人的程序
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摘要
procedures for impedance-based multi-task tracking for power and/or torque-controlled robots, with a control force at a hierarchy level taking into account a desired symmetrical, positively defined task space stiffness matrix and a desired, symmetrical, Positively defined task space damping matrix with a greater interference is determined on the basis of a known desired trajectory profile without measurement or estimation of accelerations, impedance-based multi-task tracking controllers for power and/or torque-controlled robots where such a procedure can be implemented with the help of the controller,and power and/or torque controlled robots which can be controlled by such a procedure and/or have such a controller.
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