Analytical methodology for the analysis of vibration for unconstrained discrete systems and applications to impedance control of redundant robots
Abstract This paper presents a general methodology for the analysis and synthesis of a positive semi-definite system described by mass, damping and stiffness matrices that is often encountered in impedance control in robotics research. This general methodology utilizes the fundamental kinematic conc...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SpringerOpen
2021-03-01
|
| Series: | ROBOMECH Journal |
| Subjects: | |
| Online Access: | https://doi.org/10.1186/s40648-021-00199-0 |