Joint-Level Control of the DLR Lightweight Robot SARA
Maged Iskandar,Christian Ott,Oliver Eiberger,Manuel Keppler,Alin Albu-Schäffer,Alexander Dietrich,Maged Iskandar,Christian Ott,Oliver Eiberger,Manuel Keppler,Alin Albu-Schäffer,Alexander Dietrich
Lightweight robots are known to be intrinsically elastic in their joints. The established classical approaches to control such systems are mostly based on motor-side coordinates since the joints are comparatively stiff. However, that inevitably introduces errors in the coordinates that actually matter: the ones on the link side. Here we present a new joint-torque controller that uses feedback of t...
