Robot impedance control with nondiagonal stiffness

IEEE Transactions on Automatic Control

Volumn 44, Issue 10, 1999, Pages 1943-1946

  Caccavale, Fabrizio ^a   Siciliano, Bruno ^a   Villani, Luigi ^a  

^a UNIVERSITY OF NAPLES FEDERICO II   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

END EFFECTORS; LYAPUNOV METHODS; MANIPULATORS; MATHEMATICAL MODELS; NUMERICAL METHODS; STIFFNESS MATRIX; SYSTEM STABILITY; VECTORS;

IMPEDANCE CONTROL; MECHANICAL IMPEDANCE; NONDIAGONAL STIFFNESS;

ROBOTICS;

EID: 0033347535     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/9.793782     Document Type: Article

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