Matches in SemOpenAlex for { <https://semopenalex.org/work/W2120432017> ?p ?o ?g. }
Showing items 1 to 93 of
93
with 100 items per page.
- W2120432017 endingPage "1946" @default.
- W2120432017 startingPage "1943" @default.
- W2120432017 abstract "Impedance control is a widely adopted strategy to execute tasks involving interaction of a robot manipulator with the environment. The goal is to impose an end-effector dynamic behavior described by a mechanical impedance. A crucial point is the definition of the elastic contribution in the impedance equation according to the task requirements; this is achieved by a proper choice of the equivalent stiffness matrix. In the paper an energy based argument is used to derive the dynamic equation of a mechanical impedance characterized by a translational part and a rotational part. The adoption of unit quaternions to describe orientation displacements leads to a geometrically consistent definition of the stiffness in the impedance equation. Remarkably, off-diagonal elements in the equivalent stiffness matrix are considered; namely, coupling forces with orientation displacements and coupling moments with position displacements. The equilibrium and the stability of the impedance equation are discussed as well as the geometric properties of the stiffness matrix." @default.
- W2120432017 created "2016-06-24" @default.
- W2120432017 creator A5047703451 @default.
- W2120432017 creator A5090755079 @default.
- W2120432017 creator A5091188758 @default.
- W2120432017 date "1999-01-01" @default.
- W2120432017 modified "2023-10-15" @default.
- W2120432017 title "Robot impedance control with nondiagonal stiffness" @default.
- W2120432017 cites W1967377907 @default.
- W2120432017 cites W2021201167 @default.
- W2120432017 cites W2086739042 @default.
- W2120432017 cites W2115602714 @default.
- W2120432017 cites W2120869611 @default.
- W2120432017 cites W2136447622 @default.
- W2120432017 cites W2137427741 @default.
- W2120432017 cites W2139177566 @default.
- W2120432017 cites W2144336646 @default.
- W2120432017 cites W2147285204 @default.
- W2120432017 cites W2159721734 @default.
- W2120432017 cites W2999690596 @default.
- W2120432017 doi "https://doi.org/10.1109/9.793782" @default.
- W2120432017 hasPublicationYear "1999" @default.
- W2120432017 type Work @default.
- W2120432017 sameAs 2120432017 @default.
- W2120432017 citedByCount "21" @default.
- W2120432017 countsByYear W21204320172012 @default.
- W2120432017 countsByYear W21204320172014 @default.
- W2120432017 countsByYear W21204320172016 @default.
- W2120432017 countsByYear W21204320172019 @default.
- W2120432017 countsByYear W21204320172020 @default.
- W2120432017 countsByYear W21204320172021 @default.
- W2120432017 countsByYear W21204320172022 @default.
- W2120432017 crossrefType "journal-article" @default.
- W2120432017 hasAuthorship W2120432017A5047703451 @default.
- W2120432017 hasAuthorship W2120432017A5090755079 @default.
- W2120432017 hasAuthorship W2120432017A5091188758 @default.
- W2120432017 hasConcept C113805353 @default.
- W2120432017 hasConcept C119599485 @default.
- W2120432017 hasConcept C127413603 @default.
- W2120432017 hasConcept C131584629 @default.
- W2120432017 hasConcept C134306372 @default.
- W2120432017 hasConcept C14198674 @default.
- W2120432017 hasConcept C154945302 @default.
- W2120432017 hasConcept C159447365 @default.
- W2120432017 hasConcept C17829176 @default.
- W2120432017 hasConcept C178295079 @default.
- W2120432017 hasConcept C2775924081 @default.
- W2120432017 hasConcept C2777984285 @default.
- W2120432017 hasConcept C2779372316 @default.
- W2120432017 hasConcept C33923547 @default.
- W2120432017 hasConcept C41008148 @default.
- W2120432017 hasConcept C47446073 @default.
- W2120432017 hasConcept C66938386 @default.
- W2120432017 hasConcept C78519656 @default.
- W2120432017 hasConceptScore W2120432017C113805353 @default.
- W2120432017 hasConceptScore W2120432017C119599485 @default.
- W2120432017 hasConceptScore W2120432017C127413603 @default.
- W2120432017 hasConceptScore W2120432017C131584629 @default.
- W2120432017 hasConceptScore W2120432017C134306372 @default.
- W2120432017 hasConceptScore W2120432017C14198674 @default.
- W2120432017 hasConceptScore W2120432017C154945302 @default.
- W2120432017 hasConceptScore W2120432017C159447365 @default.
- W2120432017 hasConceptScore W2120432017C17829176 @default.
- W2120432017 hasConceptScore W2120432017C178295079 @default.
- W2120432017 hasConceptScore W2120432017C2775924081 @default.
- W2120432017 hasConceptScore W2120432017C2777984285 @default.
- W2120432017 hasConceptScore W2120432017C2779372316 @default.
- W2120432017 hasConceptScore W2120432017C33923547 @default.
- W2120432017 hasConceptScore W2120432017C41008148 @default.
- W2120432017 hasConceptScore W2120432017C47446073 @default.
- W2120432017 hasConceptScore W2120432017C66938386 @default.
- W2120432017 hasConceptScore W2120432017C78519656 @default.
- W2120432017 hasIssue "10" @default.
- W2120432017 hasLocation W21204320171 @default.
- W2120432017 hasOpenAccess W2120432017 @default.
- W2120432017 hasPrimaryLocation W21204320171 @default.
- W2120432017 hasRelatedWork W1624389526 @default.
- W2120432017 hasRelatedWork W1910603216 @default.
- W2120432017 hasRelatedWork W1968182683 @default.
- W2120432017 hasRelatedWork W2057538835 @default.
- W2120432017 hasRelatedWork W2120432017 @default.
- W2120432017 hasRelatedWork W2169834937 @default.
- W2120432017 hasRelatedWork W2199346863 @default.
- W2120432017 hasRelatedWork W2668483002 @default.
- W2120432017 hasRelatedWork W2885294589 @default.
- W2120432017 hasRelatedWork W2991526975 @default.
- W2120432017 hasVolume "44" @default.
- W2120432017 isParatext "false" @default.
- W2120432017 isRetracted "false" @default.
- W2120432017 magId "2120432017" @default.
- W2120432017 workType "article" @default.