This paper is dedicated to the relationship between the external force applied on a point of a robot end-effector and its consequent displacement in static conditions. Both the force and the displacement are herein considered in the Euclidean space E(3). This fact represents a significant simplification of the approach, since it avoids some problems related to the absence of a natural positive definite metric on the Special Euclidean Group SE(3). On the other hand, such restriction allows the method to find closed-form solutions to a large class of problems in robot statics. The peculiar goal of this investigation consists of setting up a procedure which guarantees at least one pose at which any force applied (in E(3)) to an end-effector po...
Physical human-robot interaction requires the development of safe and dependable robots. This involv...
none3Physical human-robot interaction requires the development of safe and dependable robots. This i...
Abstract — The force regulation and inevitable positional inaccuracy of traditional control system c...
This paper is dedicated to the relationship between the external force applied on a point of a robot...
In this paper, the isotropic compliance property is examined in the Special Euclidean Group SE(3). T...
In this paper, the isotropic compliance property is examined in the Special Euclidean Group SE(3). T...
The present investigation is dedicated to the study of the static balance at the tip of a planar RR ...
The isotropic compliance property is examined in the Special Euclidean Group SE(3) in the case of re...
In the present paper, the isotropic compliance property is investigated, specifically focusing on RR...
In this paper a new method for achieving isotropic compliance at the contact point is applied to a m...
The spatial force-deflection behavior of an elastically suspended body is characterized by a 6 x 6 p...
The spatial force-deflection behavior of an elastically suspended body is characterized by a 6 x 6 p...
The paper focuses on the enhanced stiffness modeling of robotic manipulators by taking into account ...
Cartesian stiffness is usually described by a 6 x 6 matrix which is vital in the study of rigid body...
In the field of service robotics, whole arm contact with an unstructured environment or human beings...
Physical human-robot interaction requires the development of safe and dependable robots. This involv...
none3Physical human-robot interaction requires the development of safe and dependable robots. This i...
Abstract — The force regulation and inevitable positional inaccuracy of traditional control system c...
This paper is dedicated to the relationship between the external force applied on a point of a robot...
In this paper, the isotropic compliance property is examined in the Special Euclidean Group SE(3). T...
In this paper, the isotropic compliance property is examined in the Special Euclidean Group SE(3). T...
The present investigation is dedicated to the study of the static balance at the tip of a planar RR ...
The isotropic compliance property is examined in the Special Euclidean Group SE(3) in the case of re...
In the present paper, the isotropic compliance property is investigated, specifically focusing on RR...
In this paper a new method for achieving isotropic compliance at the contact point is applied to a m...
The spatial force-deflection behavior of an elastically suspended body is characterized by a 6 x 6 p...
The spatial force-deflection behavior of an elastically suspended body is characterized by a 6 x 6 p...
The paper focuses on the enhanced stiffness modeling of robotic manipulators by taking into account ...
Cartesian stiffness is usually described by a 6 x 6 matrix which is vital in the study of rigid body...
In the field of service robotics, whole arm contact with an unstructured environment or human beings...
Physical human-robot interaction requires the development of safe and dependable robots. This involv...
none3Physical human-robot interaction requires the development of safe and dependable robots. This i...
Abstract — The force regulation and inevitable positional inaccuracy of traditional control system c...