Title :
Passive compliance synthesis
Author :
Roberts, Rodney G. ; Fabre, Enos
Author_Institution :
Dept. of Electr. & Comput. Eng., Florida State Univ., Tallahassee, FL, USA
Abstract :
In this article we survey some recent work on the problem of realizing a spatial stiffness matrix with a parallel connection of springs. The techniques described here can be used to realize an arbitrarily specified stiffness dominated spatial impedance through the use of a mechanism constructed of passive springs. The article includes a discussion on how to rind an optimal realization of a positive definite spatial stiffness matrix using a parallel connection of springs.
Keywords :
compliance control; matrix algebra; mechanical variables control; optimisation; robots; optimization; parallel spring connection; passive compliance synthesis; passive springs; robotics; spatial impedance; spatial stiffness matrix; Educational institutions; Fasteners; Force control; Impedance; Manipulators; Position control; Robotic assembly; Robots; Springs; Symmetric matrices;
Conference_Titel :
System Theory, 2002. Proceedings of the Thirty-Fourth Southeastern Symposium on
Print_ISBN :
0-7803-7339-1
DOI :
10.1109/SSST.2002.1027037
