End-effector Cartesian stiffness shaping - sequential least squares programming approach

Control of robot end-effector (EE) Cartesian stiffness matrix (or the whole mechanical impedance) is still a challenging open issue in physical humanrobot interaction (pHRI). This paper presents an optimization approach for shaping the robot EE Cartesian stiffness. This research targets collaborativ...

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Bibliographic Details

Published in:	Serbian journal of electrical engineering Vol. 18; no. 1; pp. 1 - 14
Main Authors:	Knezevic, Nikola, Lukic, Branko, Jovanovic, Kosta, Zlajpah, Leon, Petric, Tadej
Format:	Journal Article
Language:	English
Published:	Faculty of Technical Sciences in Cacak 01.01.2021
Subjects:	cartesian stiffness control physical human-robot interaction robot redundancy sequential last squares programming
ISSN:	1451-4869, 2217-7183
Online Access:	Get full text
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