On the stiffness and stiffness control of redundant manipulators

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 25 Jun 2003Publisher:IEEEJournal:Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), volume 3, pages 2,393-2,399

Authors: Mikhail M. Svinin; Shigeyuki Hosoe; Masaru Uchiyama; Zhi Wei Luo;

doi: 10.1109/robot.2002.1013590

On the stiffness and stiffness control of redundant manipulators

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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.

Related Organizations

Tohoku University
Japan
RIKEN
Japan

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