Robot impedance control with nondiagonal stiffness

DOI10.1109/9.793782zbMath0956.93045OpenAlexW2120432017MaRDI QIDQ4506939

Fabrizio Caccavale, Bruno Siciliano, Luigi Villani

Publication date: 17 October 2000

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/9.793782

zbMATH Keywords

quaternionsstiffness matrixrobot manipulatorimpedance controloff-diagonal elementsend-effector dynamic bebavior

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

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