Spatial impedance control of redundant manipulators

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 1999, Pages 1788-1793

  Natale, Ciro ^a   Siciliano, Bruno ^a   Villani, Luigi ^a  

^a UNIVERSITY OF NAPLES FEDERICO II   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

ACOUSTIC IMPEDANCE; COMPUTATIONAL GEOMETRY; DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; INDUSTRIAL ROBOTS; INVERSE KINEMATICS; MATRIX ALGEBRA; OPTIMIZATION; REDUNDANCY; ROBUSTNESS (CONTROL SYSTEMS); SPATIAL VARIABLES CONTROL; SYSTEM STABILITY;

FORCE SENSOR; IMPEDANCE CONTROL; INVERSE DYNAMICS; JACOBIAN MATRIX; TORQUE SENSOR;

MANIPULATORS;

EID: 0032644258     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Article

References (15)