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.
|Number of pages||7|
|Journal||Proceedings - IEEE International Conference on Robotics and Automation|
|Publication status||Published - 2002 May|
ASJC Scopus subject areas
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering