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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Autors principals: Imin Kao, Carlos Saldarriaga
Format: Article
Idioma:English
Publicat: SpringerOpen 2021-03-01
Col·lecció:ROBOMECH Journal
Matèries:
Accés en línia:https://doi.org/10.1186/s40648-021-00199-0