Table 3 Comparison between discrete mechanical and robotic systems
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 |