Contact Stiffness and Damping Estimation for Robotic Systems

  title={Contact Stiffness and Damping Estimation for Robotic Systems},
  author={David Erickson and Michael Weber and Inna Sharf},
  journal={I. J. Robotics Res.},
In this paper, we review and compare four algorithms for the identification of contact stiffness and damping during robot constrained motion. The intended application is dynamics modeling and simulation of robotic assembly operations in space. Accurate simulation of these tasks requires contact dynamics models, which in turn use contact stiffness and damping to calculate contact forces. Hence, our primary interest in identifying contact parameters stems from their use as inputs to simulation… CONTINUE READING