Proceedings ArticleDOI
Stiffness control and transformation for robotic systems with coordinate and non-coordinate bases
Yanmei Li,Shih-Feng Chen,Imin Kao +2 more
- Vol. 1, pp 550-555
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TLDR
It is found that the same stiffness control for a conservative system will render a symmetric stiffness matrix with respect to a coordinate basis, but an asymmetric matrix withrespect to a non-coordinate basis.Abstract:
In this paper, the application of the conservative congruence transformation (CCT) to the stiffness mapping between non-coordinate basis and coordinate basis systems is studied and presented. Through the stiffness transformation between the 2 degree-of-freedom cylindrical and joint spaces, we illustrate that the CCT can be applied either directly or indirectly to the stiffness transformation between any two systems with either coordinate basis or noncoordinate basis. It is found that the same stiffness control for a conservative system will render a symmetric stiffness matrix with respect to a coordinate basis, but an asymmetric matrix with respect to a non-coordinate basis. The direct and indirect CCT methods are presented, with the latter requiring an intermediate coordinate system with a generalized coordinate basis. The relationships of the effective K/sub g/ matrices between the direct and indirect CCT methods are found and validated.read more
Citations
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Journal ArticleDOI
Enhanced stiffness modeling, identification and characterization for robot manipulators
Gursel Alici,Bijan Shirinzadeh +1 more
TL;DR: It has been found that although the component of the stiffness matrix differentiating the enhanced stiffness model from the conventional one is not always positive definite, the resulting stiffness matrix can still be positive definite.
Journal ArticleDOI
Enhanced stiffness modeling of manipulators with passive joints
TL;DR: In this paper, a non-linear stiffness model for serial and parallel manipulators with passive joints is presented, where the manipulator elements are presented as pseudo-rigid bodies separated by multidimensional virtual springs and perfect passive joints.
Journal ArticleDOI
Stiffness modeling for perfect and non-perfect parallel manipulators under internal and external loadings
Journal ArticleDOI
CCT-based mode coupling chatter avoidance in robotic milling
Lejun Cen,Shreyes N. Melkote +1 more
TL;DR: In this article, a new method for avoiding mode coupling chatter in robotic milling using the Conservative Congruence Transformation (CCT) stiffness model was proposed, which does not require changing the tool feed direction or the workpiece orientation.
Journal ArticleDOI
Effect of Robot Dynamics on the Machining Forces in Robotic Milling
Lejun Cen,Shreyes N. Melkote +1 more
TL;DR: In this paper, the effect of robot structural dynamics on the forces produced in robotic milling is analyzed, and a dynamic milling force model incorporating the effects of robot dynamics and external forces on the robot stiffness is implemented.
References
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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
Conservative Congruence Transformation for Joint and Cartesian Stiffness Matrices of Robotic Hands and Fingers
Shih-Feng Chen,Imin Kao +1 more
TL;DR: Through conservative congruence transformation, conservative and consistent physical properties of stiffness matrices can be preserved during mapping regardless of the usage of coordinate frames and the existence of external force.
Journal ArticleDOI
Properties of the Grasp Stiffness Matrix and Conservative Control Strategies
Inmin Kao,Chi Ngo +1 more
TL;DR: This paper presents fundamental properties of stiffness matrices as applied in analysis of grasping and dextrous manipulation in configuration spaces and linear Euclidean R3×3 space without rotational components.
Proceedings ArticleDOI
On the stiffness control and congruence transformation using the conservative congruence transformation (CCT)
Yanmei Li,I. Kao +1 more
TL;DR: The work of CCT is extended to a redundant planar manipulator and Numerical simulations are presented to illustrate issues related to the application of generalized inverse in the analysis of redundant manipulators.
Proceedings ArticleDOI
A new theory in stiffness control for dextrous manipulation
TL;DR: The method along with an example presented in this paper provides a systematic way of constructing 6/spl times/6 Cartesian stiffness matrices in robotic grasping/manipulation and stiffness control for dextrous manipulation.
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