Active/Passive Cartesian Impedance Control on the DLR Hand Arm System
Active/Passive Cartesian Impedance Control on the DLR Hand Arm System
The low intrinsic damping properties of variable stiffness mechanisms lead to oscillatory dynamical behavior. A desired convergence behavior can be achieved by active damping control based on state feedback control and the system flatness property. The combination of active (impedance) control with passive elasticities increases the stiffness range and shape.
