Enhanced stiffness modeling, identification and characterization for robot manipulators

IEEE Transactions on Robotics

Volumn 21, Issue 4, 2005, Pages 554-564

  Alici, Gürsel ^a   Shirinzadeh, Bijan ^b  

^a UNIVERSITY OF WOLLONGONG   (Australia)

^b MONASH UNIVERSITY   (Australia)

Author keywords

Compliance force control; Manipulator kinematic; Stiffness identification; Stiffness modeling

Indexed keywords

DIFFERENTIAL EQUATIONS; FORCE CONTROL; KINEMATICS; MATHEMATICAL MODELS; MATHEMATICAL TRANSFORMATIONS; ROBOTICS; STIFFNESS; STIFFNESS MATRIX;

MANIPULATOR KINEMATIC; STIFFNESS IDENTIFICATION; STIFFNESS MODELING;

MANIPULATORS;

EID: 21244459704     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2004.842347     Document Type: Article

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