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- W2947893090 abstract "This chapter introduces stiffness actuators for six degrees of freedom (DOF) based on parallel kinematic structures. Robotic manipulators as well as common industrial environments usually feature high stiffnesses, and the transition from free space into stable contact is a demanding control task. The proposed stiffness actuators can be installed either at the manipulator’s hand or in its environment. By applying active and highly dynamic impedance control, the maximum forces/torques between the manipulator and its environment caused by an impact can be significantly decreased, and cycle times in production can be greatly reduced. Beside theoretical derivations, this paper contains a number of real-world experimental results underlying the advantages of six-DOF stiffness actuators in the field of robot force/torque control." @default.
- W2947893090 created "2019-06-07" @default.
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- W2947893090 date "2011-01-01" @default.
- W2947893090 modified "2023-09-27" @default.
- W2947893090 title "Parallel Stiffness Actuators with Six Degrees of Freedom for Efficient Force/Torque Control Applications." @default.
- W2947893090 hasPublicationYear "2011" @default.
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