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Table 3 Comparison between discrete mechanical and robotic systems

From: Analytical methodology for the analysis of vibration for unconstrained discrete systems and applications to impedance control of redundant robots

Mechanical vibration Robotic impedance control
Rigid body mode Zero potential energy change
RB ZP
\(\frac{1}{2}\mathbf{q }_{{RB}}^{T}\mathbf{K }\,\mathbf{q }_{{RB}}=0\) \(\frac{1}{2} \mathbf{q }_{{{ZP}}}^{T} \mathbf{K }\,\mathbf{q }_{{{ZP}}}= 0\)
Non rigid body mode Non zero potential energy change
NRB NZP