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- W402884920 abstract "This paper describes stiffness distribution control of elastic redundant parallel robot having a torsional coil spring on each passive revolute joint, in which the displacement and stiffness of multiple output points are determined. Direct kinematics analysis and stiffness analysis under the closed-loop condition and minimization of elastic energy are formulated, and then stiffness the distribution control scheme is derived. The simulations and experiments with a prototype with ten links and four DOF's demonstrate the effectiveness of the proposed control scheme." @default.
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- W402884920 date "2008-01-01" @default.
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- W402884920 title "3242 Stiffness Distribution Control of Elastic Redundant Parallel Robot" @default.
- W402884920 doi "https://doi.org/10.1299/jsmemecjo.2008.4.0_181" @default.
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