Geometrical approach to the conservative congruence transformation (CCT) for robotic stiffness control

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 1, Issue , 2002, Pages 544-549

  Chen, Shih Feng ^a   Kao, Imin ^b  

^a LUNGHWA UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Taiwan)

^b Stony Brook University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONAL COMPLEXITY; CONFORMAL MAPPING; END EFFECTORS; STIFFNESS MATRIX; THREE DIMENSIONAL; UNIVERSAL JOINTS;

CONSERVATIVE CONGRUENCE TRANSFORMATION; ROBOTIC STIFFNESS CONTROL;

ROBOTICS;

EID: 0036061291     PISSN: 10504729     EISSN: None     Source Type: Journal    
DOI: 10.1109/ROBOT.2002.1013415     Document Type: Article

References (12)

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3. Simulation of conservative congruence transformation: Conservative properties in the joint and cartesian spaces
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5. A new theory in stiffness control for dextrous manipulation
6. Asymmetric cartesian stiffness for the modeling of compliant robotic systems
7. The screw calculus and its applications in mechanics
8. Global stiffness modeling of a class of simple compliant couplings
9. On the 6×6 stiffness matrix for three dimensional motions
10. Properties of grasp stiffness matrix and conservative control strategy