Cart (Loading....) | Create Account
Close category search window
 

On the stiffness and stiffness control of redundant manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

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

Published in:

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

Date of Conference:

2002

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.