Abstract
The programmability of Cartesian stiffness in Cartesian servo control algorithms that do not use explicit force feedback is examined. A number of Cartesian algorithms are implemented and evaluated on a commercial seven degree-of-freedom robot arm, using the NASREM robot control system testbed. It is found that Cartesian servo algorithms which use the transpose of the Jacobian and model-based gravity compensation, provide easy programmability and accurate reproduction of stiffnesses over a wide range. When dynamic behavior is a consideration, dynamic damping control, augmented to include a parameterization of the manipulator self-motion, provides superior performance and programmability.
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Fiala, J., Wavering, A.J. Experimental evaluation of Cartesian stiffness control on a seven degree-of-freedom robot arm. Journal of Intelligent and Robotic Systems 5, 5–24 (1992). https://doi.org/10.1007/BF00357127
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DOI: https://doi.org/10.1007/BF00357127