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...
| Main Authors: | , |
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| 格式: | Article |
| 語言: | English |
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SpringerOpen
2021-03-01
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| 叢編: | ROBOMECH Journal |
| 主題: | |
| 在線閱讀: | https://doi.org/10.1186/s40648-021-00199-0 |