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Robotics and Mechatronics Center
Institute of Robotics and Mechatronics
Institute of System Dynamics and Control
Institute for Optical Sensor Systems
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The control of DLR Lightweight Robot is build up hirachic with multiple layers which have different sampling rates. The inner and fastest one is the motor control loop, followed by joint control and finally the over all control of the whole robot. Measuring motor position, joint position and joint torque, the controller is provided with three sensor signals for each joint.
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Light - Weight Robots
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