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...

書誌詳細
主要な著者:	Imin Kao, Carlos Saldarriaga
フォーマット:	論文
言語:	English
出版事項:	SpringerOpen 2021-03-01
シリーズ:	ROBOMECH Journal
主題:	Vibration Discrete systems Unconstrained systems Impedance Damping Stiffness
オンライン･アクセス:	https://doi.org/10.1186/s40648-021-00199-0

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