Analytical methodology for the analysis of vibration for unconstrained discrete systems and applications to impedance control of redundant robots

Analytical methodology for the analysis of vibration for unconstrained discrete systems and applications to impedance control of redundant robots

Abstract This paper presents a general methodology for the analysis and synthesis of a positive semi-definite system described by mass, damping and stiffness matrices that is often encountered in impedance control in robotics research. This general methodology utilizes the fundamental kinematic conc...

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Bibliografiske detaljer
Main Authors:	Imin Kao, Carlos Saldarriaga
Format:	Article
Sprog:	English
Udgivet:	SpringerOpen 2021-03-01
Serier:	ROBOMECH Journal
Fag:	Vibration Discrete systems Unconstrained systems Impedance Damping Stiffness
Online adgang:	https://doi.org/10.1186/s40648-021-00199-0

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