Tangent stiffness matrix

Enhanced stiffness modeling, identification and characterization for robot manipulators

Gürsel Alıcı, Bijan Shirinzadeh

Citations: 344 • 2005

Fundamentals of manipulator stiffness modeling using matrix structural analysis

Alexandr Klimchik, Anatol Pashkevich, Damien Chablat

Citations: 114 • 2018

The Principal Axes Decomposition of Spatial Stiffness Matrices

Genliang Chen, Hao Wang, Zhongqin Lin, Xinmin Lai

Citations: 77 • 2015

Unified formulation for the stiffness analysis of spatial mechanisms

Alessandro Cammarata

Citations: 56 • 2016

Stiffness Synthesis of a Variable Geometry Six-Degrees-of-Freedom Double Planar Parallel Robot

Nabil Simaan, Moshe Shoham

Citations: 55 • 2003

Geometric Interpretation of the Derivatives of Parallel Robots’ Jacobian Matrix With Application to Stiffness Control

Nabil Simaan, M. Shoham

Citations: 50 • 2003

Online Model Based Estimation of Complete Joint Stiffness of Human Arm

Cheng Fang, Arash Ajoudani, Antonio Bicchi, Nikos G. Tsagarakis

Citations: 44 • 2017

A method for stiffness analysis of overconstrained parallel robotic mechanisms with Scara motion

Wen-ao Cao, Donghao Yang, Huafeng Ding

Citations: 41 • 2017

A method for stiffness modeling of 3R2T overconstrained parallel robotic mechanisms based on screw theory and strain energy

Wen-ao Cao, Huafeng Ding

Citations: 33 • 2017

Screw System Approach to Physical Realization of Stiffness Matrix With Arbitrary Rank

Man Bok Hong, Yong Je Choi

Citations: 29 • 2009

Robot impedance control with nondiagonal stiffness

Fabrizio Caccavale, Bruno Siciliano, Luigi Villani

Citations: 27 • 1999

An Intuitive Formulation of the Human Arm Active Endpoint Stiffness

Yuqiang Wu, Fei Zhao, Wansoo Kim, Arash Ajoudani

Citations: 27 • 2020

Stiffness Evaluation of Machines and Robots: Minimum Collinear Stiffness Value Approach

Vladimir T. Portman

Citations: 26 • 2011

Evaluation and optimization of dynamic stiffness values of the PKMs: Collinear stiffness value approach

Vladimir T. Portman, Vladimir Chapsky, Y. Shneor

Citations: 24 • 2014

On the stiffness of three/four degree-of-freedom parallel pick-and-place robots with four identical limbs

Guanglei Wu, Shaoping Bai, Preben Hjørnet

Citations: 21 • 2016

A Generalized Stiffness Matrix Method for Force Distribution of Robotic Systems with Indeterminancy

Xiaochun Gao, Shin‐Min Song, Chun Qi Zheng

Citations: 17 • 1993

Tri-pyramid Robot: stiffness modeling of a 3-DOF translational parallel manipulator

Qiang Zeng, Kornel F. Ehmann, Jian Cao

Citations: 16 • 2014

Geometrical analysis of compliant mechanisms in robotics (euclidean group, elastic systems, generalized springs

Josip Lončarić

Citations: 16 • 1985

Geometrical method for modeling of asymmetric 6×6 Cartesian stiffness matrix

Shih-Feng Chen, Imin Kao

Citations: 15 • 2002

Robot stiffness evaluability problem: Solution by Schur complements and collinear stiffness values

Vladimir T. Portman

Citations: 14 • 2021