Related papers: A General Formulation for the Stiffness Matrix of …
In contact-rich tasks, setting the stiffness of the control system is a critical factor in its performance. Although the setting range can be extended by making the stiffness matrix asymmetric, its stability has not been proven. This study…
A number of recent papers have studied when symmetry causes frameworks on a graph to become infinitesimally flexible, or stressed, and when it has no impact. A number of other recent papers have studied special classes of frameworks on…
A formula is derived for stiffness of a polymer chain in terms of the distribution function of end-to-end vectors. This relationship is applied to calculate the stiffness of Gaussian chains (neutral and carrying electric charges at the…
This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is optimised. In many works, these simplified…
This note presents a summary and review of various conditions and characterizations for matrix stability (in particular diagonal matrix stability) and matrix stabilizability.
The paper focuses on the stiffness modeling of robotic manipulators with gravity compensators. The main attention is paid to the development of the stiffness model of a spring-based compensator located between sequential links of a serial…
It is well known that the use of a consistent tangent stiffness matrix is critical to obtain quadratic convergence of the global Newton iterations in the finite element simulations of problems involving elasto-plastic deformation of metals,…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
Redundancy matrices provide insights into the load carrying behavior of statically indeterminate structures. This information can be employed for the design and analysis of structures with regard to certain objectives, for example…
We derive simplified formulas for analyzing the stability of stochastic parametrically forced linear systems. This extends the results in [T. Blass and L.A. Romero, SIAM J. Control Optim. 51(2):1099--1127, 2013] where, assuming the…
Robustness of linear systems with constant coefficients is considered. There exist methods and tools for analyzing the stability of systems with random or deterministic uncertainties. At the same time, there are no approaches for the…
Using the theory of extensors developed in a previous paper we present a theory of the parallelism structure on arbitrary smooth manifold. Two kinds of Cartan connection operators are introduced and both appear in intrinsic versions (i.e.,…
The aim of this paper is to establish some metrical coincidence and common fixed point theorems with an arbitrary relation under an implicit contractive condition which is general enough to cover a multitude of well known contraction…
The paper presents an approach for the identification of elasto-static parameters of a robotic manipulator using the virtual experiments in a CAD environment. It is based on the numerical processing of the data extracted from the finite…
We consider the linear complementarity problem with uncertain data modeled by intervals, representing the range of possible values. Many properties of the linear complementarity problem (such as solvability, uniqueness, convexity, finite…
In this paper we develop a new perspective on generalization of neural networks by proposing and investigating the concept of a neural network stiffness. We measure how stiff a network is by looking at how a small gradient step in the…
The notion of stiffness, which originated in several applications of a different nature, has dominated the activities related to the numerical treatment of differential problems for the last fifty years. Contrary to what usually happens in…
This paper presents a new stiffness modulation mechanism that enables infinite-range stiffness modulation in a fast manner. The proposed stiffness modulation mechanism can help improve many robot environment interaction applications such as…
We consider the systematic force on a heavy probe induced by interaction with an overdamped diffusive medium where particles undergo a rotating force around a fixed center. The stiffness matrix summarizes the stability of the probe around…
A linearly constrained framework in $\mathbb{R}^d$ is a point configuration together with a system of constraints which fixes the distances between some pairs of points and additionally restricts some of the points to lie in given affine…