Proceedings ArticleDOI
On the stiffness and stiffness control of redundant manipulators
Mikhail Svinin,S. Hosoe,Masaru Uchiyama,Z.W. Luo +3 more
- Vol. 3, pp 2393-2399
TLDR
An analysis of the stiffness of redundant manipulators is undertaken, where in the planar case the stability conditions for the force dependent stiffness (and gravity-dependent stiffness) are obtained in the analytical form.Abstract:
An analysis of the stiffness of redundant manipulators is undertaken in this paper. First, the matrix of the force-dependent stiffness is derived and its basic properties are analyzed. In particular, in the planar case the stability conditions for the force dependent stiffness (and gravity-dependent stiffness) are obtained in the analytical form. Next, dual properties of the stiffness and compliance are exploited to establish a decomposition of the joint stiffness and compliance in the form similar to the decomposition of the joint velocities and torques. Finally, a minimal, nonredundant parameterization of the joint stiffness and compliance is commented.read more
Citations
More filters
Journal ArticleDOI
Stiffness analysis and experimental validation of robotic systems
TL;DR: In this paper, the authors proposed procedures for carrying out both numerical and experimental estimations of stiffness performance for multibody robotic systems, based on models with lumped parameters for deriving the Cartesian stiffness matrix.
Journal ArticleDOI
Output-Based Control of Robots with Variable Stiffness Actuation
TL;DR: The proposed controller is configured as a cascade system that allows the decoupling of the actuators dynamics from the arm dynamics and the consequent reduction of the order of the manipulator dynamic model.
Stiffness Analysis of Cable-Driven Parallel Robots
TL;DR: Thesis (Ph.D, Mechanical and Materials Engineering) -- Queen's University, 2013-04-27 08:47:26.297 as discussed by the authors, thesis was published in 2013.
Journal ArticleDOI
Anisotropic force ellipsoid based multi-axis motion optimization of machine tools
TL;DR: In this article, an analytical stiffness model is established by Jacobi and point transformation matrix method to establish a general stiffness model of multi-axis machining system, and feed-direction stiffness index is calculated by the intersection of force ellipsoid and the cutting feed direction at the cutter tip.
Proceedings ArticleDOI
Stiffness performance estimation for biped locomotor WL-15
TL;DR: In this article, a biped locomotor, named as WL-15 (Waseda Leg 15), is analyzed in terms of stiffness characteristics, and a formulation is proposed to deduce the stiffness matrix as a function of the most important design parameters of the WL15 architecture.
References
More filters
Book
Matrix Analysis
Roger A. Horn,Charles R. Johnson +1 more
TL;DR: In this article, the authors present results of both classic and recent matrix analyses using canonical forms as a unifying theme, and demonstrate their importance in a variety of applications, such as linear algebra and matrix theory.
Proceedings ArticleDOI
Active stiffness control of a manipulator in cartesian coordinates
TL;DR: In this article, a method of actively controlling the apparent stiffness of a manipulator end effecter is presented, which allows the programmer to specify the three transnational and three rotational stiffness properties of a frame located arbitrarily in hand coordinates.
Journal ArticleDOI
An excursion into large rotations
TL;DR: In this article, the authors developed an enlarged exploration of the matrix formulation of finite rotations in space initiated in [1] and showed how a consistent but subtle matrix calculus inevitably leads to a number of elegant expressions for the transformation or rotation matrix T appertaining to a rotation about an arbitrary axis.
Journal ArticleDOI
A theory of generalized inverses applied to robotics
TL;DR: A general theory for consistent, gauge-invariant solutions to nonhomogeneous systems of the form u = Ax is developed and the dual relationship between rigid-body kinematics and statics is de fined formally as a particular, linear algebraic system whose solution system is also a dual system.
Related Papers (5)
Enhanced stiffness modeling, identification and characterization for robot manipulators
Gursel Alici,Bijan Shirinzadeh +1 more