Enhanced stiffness modeling, identification and characterization for robot manipulators
G Alici, B Shirinzadeh - IEEE transactions on robotics, 2005 - ieeexplore.ieee.org
This paper presents the enhanced stiffness modeling and analysis of robot manipulators,
and a methodology for their stiffness identification and characterization. Assuming that the …
and a methodology for their stiffness identification and characterization. Assuming that the …
Performance measures of parallel kinematics manipulators
This extensive review paper, which involves 204 papers, discusses comprehensively a
number of performance indices that are instrumental in the design of parallel kinematics …
number of performance indices that are instrumental in the design of parallel kinematics …
Enhanced stiffness modeling of manipulators with passive joints
The paper presents a methodology to enhance the stiffness analysis of serial and parallel
manipulators with passive joints. It directly takes into account the influence of external and …
manipulators with passive joints. It directly takes into account the influence of external and …
Prescribing cartesian stiffness of soft robots by co-optimization of shape and segment-level stiffness
Soft robots aim to revolutionize how robotic systems interact with the environment thanks to
their inherent compliance. Some of these systems are even able to modulate their physical …
their inherent compliance. Some of these systems are even able to modulate their physical …
Stiffness modeling for perfect and non-perfect parallel manipulators under internal and external loadings
The paper presents an advanced stiffness modeling technique for perfect and non-perfect
parallel manipulators under internal and external loadings. Particular attention is paid to the …
parallel manipulators under internal and external loadings. Particular attention is paid to the …
CAD-based approach for identification of elasto-static parameters of robotic manipulators
The paper presents an approach for the identification of elasto-static parameters of a robotic
manipulator using the virtual experiments in a CAD environment. It is based on the …
manipulator using the virtual experiments in a CAD environment. It is based on the …
[图书][B] Dynamics and robust control of robot-environment interaction
M Vukobratovic, D Surdilovic, Y Ekalo, D Katic - 2009 - books.google.com
This book covers the most attractive problem in robot control, dealing with the direct
interaction between a robot and a dynamic environment, including the human-robot physical …
interaction between a robot and a dynamic environment, including the human-robot physical …
Muscle synergies heavily influence the neural control of arm endpoint stiffness and energy consumption
JM Inouye, FJ Valero-Cuevas - PLoS computational biology, 2016 - journals.plos.org
Much debate has arisen from research on muscle synergies with respect to both limb
impedance control and energy consumption. Studies of limb impedance control in the …
impedance control and energy consumption. Studies of limb impedance control in the …
The principal axes decomposition of spatial stiffness matrices
G Chen, H Wang, Z Lin, X Lai - IEEE Transactions on Robotics, 2015 - ieeexplore.ieee.org
This paper presents an alternative decomposition of spatial stiffness matrices based on the
concept of compliant axes. According to the congruence transformation of spatial stiffness …
concept of compliant axes. According to the congruence transformation of spatial stiffness …
Investigation of parallel manipulators using linear complex approximation
This investigation deals with singularity analysis of parallel manipulators and their
instantaneous behavior while in or close to a singular configuration. The method presented …
instantaneous behavior while in or close to a singular configuration. The method presented …