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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    Title :

    Cartesian Compliance


    Additional title:

    Spr.Tracts in Adv.Robotics


    Contributors:


    Publication date :

    2021-11-04


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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