Title :
On the stiffness and stiffness control of redundant manipulators
Author :
Svinin, M.M. ; Hosoe, S. ; Uchiyama, M. ; Luo, Z.W.
Author_Institution :
Bio-Mimetic Control Res. Center, RIKEN, Nagoya, Japan
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, nonredundant parameterization of the joint stiffness and compliance is commented
Keywords :
matrix algebra; redundant manipulators; stability criteria; compliance decomposition; force-dependent stiffness; force-dependent stiffness matrix; gravity-dependent stiffness; joint stiffness decomposition; minimal nonredundant parameterization; redundant manipulators; stability conditions; stability criteria; stiffness control; Control systems; Force control; Kinematics; Manipulators; Matrix decomposition; Open loop systems; Robots; Stability analysis; Transmission line matrix methods; Velocity control;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013590
