Task-space/joint-space damping transformations for passive redundant manipulators

Ambarish Goswami*, Michael Peshkin

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations


We consider here passive mechanical wrists, capable of imparting a desired damping matrix to a grasped workpiece. Previous work [12, 13] has shown how to select a damping matrix such that an assembly operation can be made force-guided. The passive mechanical wrist is to be programmable - it can adopt a wide range of damping matrices - by virtue of a number of tunable dampers which interconnect the joints. We have been studying the range of damping matrices that such a wrist can adopt, purely by tuning its dampers. We find that a redundant wrist has a broader range of realizable damping matrices than a non-redundant wrist. A kinematic Jacobian relates the task-space damping matrix to a similar matrix in the hydraulic space of the tunable dampers (joint-space). For redundant wrists the transformation of damping matrices between task-space and joint-space is not straightforward. In this paper we identify the casual directions along which the transformations are linear. We show that the joint-space matrices which are obtained as linear transformations of desired task-space matrices are all singular. Many realizable joint-space matrices (corresponding to a desired task-space damping matrix) are shown to exist which are not discovered by linear transformations.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Number of pages6
ISBN (Print)0818634529
StatePublished - Jan 1 1993
EventProceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA
Duration: May 2 1993May 6 1993

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


OtherProceedings of the IEEE International Conference on Robotics and Automation
CityAtlanta, GA, USA

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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