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Table 4 Damping ratios and natural frequencies of the Baxter robot performing Cartesian impedance control for a given set of damping and stiffness matrices

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

  \(\lambda _{1,2}\) \(\lambda _{3,4}\) \(\lambda _{5,6}\) \(\lambda _{7,8}\) \(\lambda _{9,10}\)
\(\omega _n\) 14.6 3.71 3.07 2.08 0.817
\(\zeta\) 0.0992 0.0839 0.0597 0.176 0.510
  1. Data from all five pairs of eigenvalues in the modal space are tabulated