Abstract
In the field of service robotics, whole arm contact with an unstructured environment or human beings becomes a major issue. Therefore soft robots, which means robots with passively (or mechanically) compliant joints, become more and more important. In this work we analyze what Cartesian stiffness at the tool center point one can achieve with a passively compliant, redundant robot with variable joint stiffness. We restrict this work to the special case of uncoupled joint stiffnesses only, as coupling of joint stiffnesses seems to be mechanically difficult to realize.
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Schreiber, G., Albu-Schäffer, A., Fischer, M., Schoeppe, F., Hirzinger, G. (2004). Achievable Cartesian Stiffness with Passively Compliant, Uncoupled Joints. In: Lenarčič, J., Galletti, C. (eds) On Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-2249-4_44
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DOI: https://doi.org/10.1007/978-1-4020-2249-4_44
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