— High-gain PID position control, which is widely used with robots having complex dynamics, involves some risks in cases of abnormal events, such as unexpected environment contac...
Abstract. The paper presents a methodology for the enhanced stiffness analysis of parallel manipulators with internal preloading in passive joints. It also takes into account influ...
Anatoly Pashkevich, Alexandr Klimchik, Damien Chab...
Both haptic and visual senses play a role in how we explore our environment. Previous studies have shown that vision plays a very strong role in perception of object stiffness, ye...
James S. Sulzer, Arsalan Salamat, Vikram S. Chib, ...
— When the end-effector of a robot is slid on a flat surface, the stiffness matrix obtained by linear fitting of position and force contains information not only on the stiffne...
— After briefly summarizing the mechanical design of the two joint prototypes for the new DLR variable compliance arm, the paper exemplifies the dynamic modelling of one of the...