This chapter defines a general Cartesian Compliance, which is used by the controllers presented in Chaps. 6 and 7. In general, a compliance combines a virtual spring and damper to stabilize a robot either in joint or Cartesian space. Although an implementation in Cartesian space is more cumbersome, a Cartesian compliance provides a more straightforward parameterization of the robot’s motion with respect to the environment.


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    Titel :

    Cartesian Compliance


    Weitere Titelangaben:

    Spr.Tracts in Adv.Robotics


    Beteiligte:
    Henze, Bernd (Autor:in)


    Erscheinungsdatum :

    04.11.2021


    Format / Umfang :

    12 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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