ROBOMECH Journal

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

Data from all five pairs of eigenvalues in the modal space are tabulated

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