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...
Những tác giả chính: | , |
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Định dạng: | Bài viết |
Ngôn ngữ: | English |
Được phát hành: |
SpringerOpen
2021-03-01
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Loạt: | ROBOMECH Journal |
Những chủ đề: | |
Truy cập trực tuyến: | https://doi.org/10.1186/s40648-021-00199-0 |