Stiffness, in robotics, is the ratio of applied force (or torque) to the resulting displacement (or angular deflection) of a robot link, joint, or end-effector. High stiffness yields precise positioning at the cost of storing large elastic energy that can be hazardous in contact; low stiffness (compliance) absorbs impact and is preferred in human-robot collaboration. Variable-stiffness actuation and impedance control allow robots to modulate stiffness dynamically, trading accuracy against safety depending on task context.
Stiffness is the mechanical property quantifying a structure’s resistance to deformation under an applied force or torque — formally the ratio F/x (force per unit displacement) or τ/θ (torque per unit angular deflection). In robot design, joint and link stiffness determine positioning accuracy, vibration behaviour, and contact safety. High structural stiffness improves repeatability but concentrates impact energy; deliberate compliance (low stiffness) reduces peak contact forces in human-robot collaboration.
Semantic Classification
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- Stiffness - Resistance to deformation under load