Design for Compliance
Software
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MATLAB® files with GUI for systhesizing passive elastic mechanisms having a desired planar elastic behavior: Serial mechanism with 3 elastic joints Parallel mechanism with 4 springs Serial mechanism with 4 elastic joints Parallel mechanism with 5 springs Serial mechanism with 5 elastic joints |
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MATLAB® files for passive compliance control of redundant serial manipulators. Files are used to generate actuator profiles for both position and stiffness of each joint to realize a desired end-effector motion and time-varying elastic behavior. |
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