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...
Huvudupphovsmän: | Imin Kao, Carlos Saldarriaga |
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Materialtyp: | Artikel |
Språk: | English |
Publicerad: |
SpringerOpen
2021-03-01
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Serie: | ROBOMECH Journal |
Ämnen: | |
Länkar: | https://doi.org/10.1186/s40648-021-00199-0 |
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