On the stiffness and stiffness control of redundant manipulators

被引：0
|
作者：
Svinin, MM [1 ]
Hosoe, S [1 ]
Uchiyama, M [1 ]
Luo, ZW [1 ]
机构：
[1] RIKEN, Biominet Control Res Ctr, Nagoya, Aichi 4630003, Japan
来源：
2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2002年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An analysis of the stiffness of redundant manipulators is undertaken in this paper. First, the matrix of the force-dependent stiffness is derived and its basic properties are analyzed. In particular, in the planar case the stability conditions for the force dependent stiffness (and gravity-dependent stiffness) are obtained in the analytical form. Next, dual properties of the. stiffness and compliance are exploited to establish a decomposition of the joint stiffness and compliance in the form similar to the decomposition of the joint velocities and torques. Finally, a minimal, non-redundant parameterization of the joint stiffness and compliance is commented.
引用
收藏
页码：2393 / 2399
页数：7
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