On the stiffness control and congruence transformation using the conservative congruence transformation (CCT)

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 4, Issue , 2001, Pages 3937-3942

  Li, Y ^a   Kao, I ^a  

^a STONY BROOK UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

FORCE CONTROL; MAPPING; ROBOT APPLICATIONS; STIFFNESS MATRIX;

CONSERVATIVE CONGRUENCE TRANSFORMATION (CCT);

REDUNDANT MANIPULATORS;

EID: 0034860486     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

1. Conservative congruence transformation for joint and cartesian stiffness matrices of robotic hands and fingers
2. Geometrical methods for modeling the asymmetric 6×6 cartesian stiffness matrix
3. Simulation of conservative congruence transformation: Conservative properties in the joint and cartesian spaces
4. Properties of grasp stiffness matrix and conservative control strategy
5. Active stiffness control of a manipulator in cartesian coordinates