A new theory in stiffness control for dextrous manipulation

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2001, Pages 3047-3054

  Chen, Shih Feng ^a   Li, Yanmei ^b   Kao, Imin ^b  

^a LUNGHWA UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Taiwan)

^b Stony Brook University   (Taiwan)

Author keywords

[No Author keywords available]

Indexed keywords

CONSERVATION CONGRUENCE TRANSFORMATIONS (CCT);

MANIPULATORS; MATHEMATICAL TRANSFORMATIONS; STIFFNESS; STIFFNESS MATRIX;

ROBOTICS;

EID: 0034861389     PISSN: 10504729     EISSN: None     Source Type: Journal    
DOI: 10.1109/ROBOT.2001.933085     Document Type: Article

References (18)

1. The conservative congruence transformation of stiffness control in robotic grasping and manipulation
2. Conservative congruence transformation for joint and cartesian stiffness matrices of robotic hands and fingers
3. Geometrical methods for modeling the asymmetric 6 × 6 cartesian stiffness matrix
4. Asymmetric cartesian stiffness for the modeling of compliant robotic systems
5. Global stiffness modeling of a class of simple compliant couplings
6. On the 6 × 6 stiffness matrix for three dimensional motions
7. Dextrous manipulation with compliance and sliding
8. Dextrous manipulation with compliance and sliding
9. Comparison of theoretical and experimental force/motion trajectories for dextrous manipulation with sliding
10. Active stiffness control of a manipulator in cartesian coordinates