Conservative Congruence Transformation for Joint and Cartesian Stiffness Matrices of Robotic Hands and Fingers

By Shih-Feng Chen, I. Kao. Int. J. Robotics Res., 2000

316 citations recorded by the source corpus.

Subfields: Atomic and Molecular Physics, and Optics, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/193ae0904b51e7594717c6eddce3813e505e6467

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Atomic and Molecular Physics, and Optics

1. Stéphane Caro
2. A. Pashkevich
3. A. Klimchik
4. Benoît Furet

In Control and Systems Engineering

1. Stéphane Caro
2. A. Pashkevich
3. Daniela Rus
4. Cosimo Della Santina
5. A. Klimchik
6. Benoît Furet
7. Christian Duriez

Citations in the corpus

• Stiffness Analysis of Overconstrained Parallel Manipulators (2009, unknown): “S J J J K J J K J J K J , (13) where ,...i ictr Leg J J are the corresponding submatrices of the Jacobian i J .”
• Identification of the manipulator stiffness model parameters in industrial environment (2015, methodology): “And finally, the VJM method [29-32], is based on the extension of the traditional rigid model by adding the virtual joints (localized springs), which describe the elastic deformations of the links, joints and actuators.”
• Model-Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges (2021, background): “In unloaded conditions [175], [176] the physical Cartesian stiffness generated by the robot’s softness is Kx(q) = Jc(q) ( ∂K(q)”