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...

Deskribapen osoa

Xehetasun bibliografikoak
Egile Nagusiak:	Imin Kao, Carlos Saldarriaga
Formatua:	Artikulua
Hizkuntza:	English
Argitaratua:	SpringerOpen 2021-03-01
Saila:	ROBOMECH Journal
Gaiak:	Vibration Discrete systems Unconstrained systems Impedance Damping Stiffness
Sarrera elektronikoa:	https://doi.org/10.1186/s40648-021-00199-0

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