Hannes Höppner

Adaptive Control of Motor-Position-Controlled Flexible Joint Robots with Uncertain Joint Stiffness

Annika Kirner, Grazia Zambella, Igor Kovacevic, Hannes Höppner, Jee-Hwan Ryu, Christian Ott

Model-based control of flexible joint robots with position-controlled actuators relies on accurate knowledge of the joint compliance. In practice, precise stiffness models are often unavailable as the properties of physical elastic elements vary with operating conditions and slow…Read more