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Analytical methodology for the analysis of vibration for unconstrained discrete systems and applications to impedance control of redundant robots
ArticleAbstract: This paper presents a general methodology for the analysis and synthesis of a positive semi-definitePalabras claves:Damping, Discrete systems, Impedance, Redundant robots, stiffness, Unconstrained systems, vibrationAutores:Carlos Saldarriaga, Kao I.Fuentes:googlescopusDesign of Damping Matrices for Cartesian Impedance Control of Robotic Manipulators
Book PartAbstract: Impedance control of robotic manipulators has been widely used in manipulation tasks for controllingPalabras claves:Autores:Carlos Saldarriaga, Chakraborty N., Kao I.Fuentes:googlescopusImpedance Control on Redundant Manipulators With Zero-Potential-Energy Motions: Theory and Experimental Validation
ArticleAbstract: This article presents an experimental study with theory to identify quantitatively the zero-potentiaPalabras claves:Dynamics, theoretical kinematicsAutores:Carlos Saldarriaga, Kao I.Fuentes:googlescopusZero-Potential-Energy Motions due to Stiffness in Impedance Control of Robotic Tasks: An Innovative Theory and Experimental Study
Conference ObjectAbstract: This paper presents an analytical methodology and experimental study to identify quantitatively thePalabras claves:Autores:Carlos Saldarriaga, Kao I.Fuentes:googlescopus