Cartesian stiffness matrix of manipulators with passive joints: Analytical approach.
Anatoly PashkevichAlexandr KlimchikStéphane CaroDamien ChablatPublished in: IROS (2011)
Keyphrases
- degrees of freedom
- contact force
- master slave
- singular value decomposition
- computer vision
- human body
- matrix representation
- path planning
- human motion
- motion planning
- adaptive control
- finite element model
- finite element analysis
- covariance matrix
- vision system
- linear algebra
- positive definite
- feedback loop
- special case
- polar coordinates
- real time