On the stiffness and stiffness control of redundant manipulators

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

    Research output: Contribution to journalArticlepeer-review

    13 Citations (Scopus)


    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
    Publication statusPublished - 2002 May

    ASJC Scopus subject areas

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


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