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

页码：2393 / 2399

页数：7

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