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...
| Principais autores: | , |
|---|---|
| Formato: | Artigo |
| Idioma: | English |
| Publicado em: |
SpringerOpen
2021-03-01
|
| coleção: | ROBOMECH Journal |
| Assuntos: | |
| Acesso em linha: | https://doi.org/10.1186/s40648-021-00199-0 |