Abstract
An account is given on wrists incorporating damper networks for which the admittance matrices reduce to accommodation or inverse-damping matrices. The overall wrist-accommodation matrix is obtained by projecting the accommodation matrix of the damper network through the wrist kinematics. The linear combination of the dominant basis matrices projected through the wrist kinematics generates the entire space of mechanically implementable force-control laws. Finally, the versatility of mechanically implementable force-control laws is quantified by comparing this space to the space of all matrices.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 830-844 |
| Number of pages | 15 |
| Journal | International Journal of Robotics Research |
| Volume | 18 |
| Issue number | 8 |
| DOIs | |
| State | Published - Aug 1999 |
ASJC Scopus subject areas
- Software
- Modeling and Simulation
- Mechanical Engineering
- Electrical and Electronic Engineering
- Artificial Intelligence
- Applied Mathematics