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On the stiffness and stiffness control of redundant manipulators

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4 Author(s)
Svinin, M.M. ; Bio-Mimetic Control Res. Center, RIKEN, Nagoya, Japan ; Hosoe, S. ; Uchiyama, M. ; Luo, Z.W.

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, nonredundant parameterization of the joint stiffness and compliance is commented

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Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:3 )

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