On the stiffness and stiffness control of redundant manipulators

M. M. Svinin; S. Hosoe; M. Uchiyama; Z. W. Luo

doi:10.1109/ROBOT.2002.1013590

On the stiffness and stiffness control of redundant manipulators

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

Research output: Contribution to journal › Article › peer-review

13 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 language	English
Pages (from-to)	2393-2399
Number of pages	7
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	3
DOIs	https://doi.org/10.1109/ROBOT.2002.1013590
Publication status	Published - 2002 May

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ROBOT.2002.1013590

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AU - Hosoe, S.

AU - Uchiyama, M.

AU - Luo, Z. W.

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AB - 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.

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On the stiffness and stiffness control of redundant manipulators

Abstract

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