On the stiffness and stiffness control of redundant manipulators

Mikhail Mikhailovich Svinin, S. Hosoe, M. Uchiyama, Z. W. Luo

Research output: Contribution to journalArticle

11 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)2393-2399
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
DOIs
Publication statusPublished - Jan 1 2002

Fingerprint

Redundant manipulators
Stiffness
Decomposition
Parameterization
Gravitation
Torque

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

On the stiffness and stiffness control of redundant manipulators. / Svinin, Mikhail Mikhailovich; Hosoe, S.; Uchiyama, M.; Luo, Z. W.

In: Proceedings - IEEE International Conference on Robotics and Automation, Vol. 3, 01.01.2002, p. 2393-2399.

Research output: Contribution to journalArticle

Svinin, Mikhail Mikhailovich ; Hosoe, S. ; Uchiyama, M. ; Luo, Z. W. / On the stiffness and stiffness control of redundant manipulators. In: Proceedings - IEEE International Conference on Robotics and Automation. 2002 ; Vol. 3. pp. 2393-2399.
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