Online Cartesian Compliance Shaping of Redundant Robots in Assembly Tasks
This paper presents a universal approach to shaping the mechanical properties of the interaction between a collaborative robot and its environment through an end-effector Cartesian compliance shaping. More specifically, the focus is on the class of kinematically redundant robots, for which a novel r...
Main Authors: | , , , |
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Format: | Article |
Language: | English |
Published: |
MDPI AG
2022-12-01
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Series: | Machines |
Subjects: | |
Online Access: | https://www.mdpi.com/2075-1702/11/1/35 |