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Stiffness analysis and control of redundant manipulators

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3 Author(s)
Choi, H.R. ; Dept. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea ; Chung, W.K. ; Youm, Y.

In this paper, two points are addressed as for the stiffness control of redundant manipulators. The first is, through the joint stiffness analysis, a generalized stiffness model between the joint and taskspace stiffness. Differing from the previous stiffness model, this model shows the existence of the additional stiffness concerning the configuration change and force. The second is the joint stiffness control scheme of redundant manipulators based on the developed model, called orthogonal stiffness decomposition control. The effectiveness of the proposed model and control method is verified through simulations and experiments

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994