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: | Branko Lukić, Kosta Jovanović, Leon Žlajpah, Tadej Petrič |
---|---|
Format: | Article |
Language: | English |
Published: |
MDPI AG
2022-12-01
|
Series: | Machines |
Subjects: | |
Online Access: | https://www.mdpi.com/2075-1702/11/1/35 |
Similar Items
-
Cartesian impedance control of redundant and flexible-joint robots /
by: 205953 Ott, Christian
Published: (2008) -
Numerical Quantification of Controllability in the Null Space for Redundant Manipulators
by: Seonwoo Kim, et al.
Published: (2021-07-01) -
An Obstacle-Avoidance Motion Planning Method for Redundant Space Robot via Reinforcement Learning
by: Zeyuan Huang, et al.
Published: (2023-02-01) -
Analysis and Control of Vibrations of a Cartesian Cutting Machine Using an Equivalent Robotic Model
by: Matteo Bottin, et al.
Published: (2021-08-01) -
Cartesian Constrained Stochastic Trajectory Optimization for Motion Planning
by: Michal Dobiš, et al.
Published: (2021-12-01)