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Model Validation of the Cartesian Impedance Control Mode in a KUKA lwr iiwa R820 14


R. Greter

Semester Thesis, SS16 (10510)

In the context of cooperative robotics, it is essential for manipulators to have an exible behaviour, in order to prevent damage to each other or the environment. This behaviour is achieved using impedance control. In this control mode, the manipulator reacts as a virtual mass-spring-damper model to deviations in position or velocity.

The focus of this thesis lies on the lwr iiwa 14 R820 by KUKA. It comes with its own pre-implemented Cartesian impedance control mode. Before this mode can be used for further research, it has to verified first. The validation is done through different experiments, where the measured control forces (received from the internal torque sensors of the lwr iiwa) are compared to the expected forces (calculated from the actual deviations). The individual parameters of the mass-spring-damper model, i.e. the stiffness and the damping coefficient, are verified separately.

Supervisor: Yvonne Stürz, Roy Smith


Type of Publication:

(13)Semester/Bachelor Thesis

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2016:IFA_5476
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