2021
Zero-Potential-Energy Motions due to Stiffness in Impedance Control of Robotic Tasks: an Innovative Theory and Experimental Study
ICRA 2021poster
This paper presents an analytical methodology and experimental study to identify quantitatively the zero-potential-energy (ZP) motion due to the stiffness matrices in Cartesian impedance control of redundant manipulators. This mode of motion, analogous to the rigid-body mode in classic mechanical sy…