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Task-space/joint-space damping transformations for passive redundant manipulators
[1993] Proceedings IEEE International Conference on Robotics and Automation
We consider here passive mechanical wrists, capable of imparting a desired dumping matrix to a grasped workpiece. Previous work 112. 131 has shown how to select a dumping matrix such that an assembly operatwn can be modc force-guided Thc passive mechanical wrist is to be progmnvnableit can adopt a widc range of damping matricesby virtue of a number of t u d e dampers which inrcrconneet the joints. We have been studying the range of dmnping matrices that such a wrist can adopt. purely by tuning
doi:10.1109/robot.1993.291886
dblp:conf/icra/GoswamiP93a
fatcat:b3c2lrcymndo3mg4rzitsl4psq