Configuration-based compliance control of kinematically redundant robot arm Part I: Theoretical framework
When the robot endpoint compliance is dominantly influenced by the flexibility of its joints, the robot taskspace generalized stiffness matrix can be mapped onto jointspace using appropriate congruence transformation. Thus produced, the jointspace stiffness matrix is generally nondiagonal. Off-diago...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
University of Belgrade - Faculty of Mechanical Engineering, Belgrade
2017-01-01
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| Series: | FME Transactions |
| Subjects: | |
| Online Access: | https://scindeks-clanci.ceon.rs/data/pdf/1451-2092/2017/1451-20921704468P.pdf |