Title :
Stiffness Performance of Multibody Robotic Systems
Author :
Carbone, Giuseppe
Author_Institution :
Lab. of Robotics & Mechatronics, Cassino Univ.
Abstract :
Stiffness can be considered of primary importance in order to guarantee the successful use of any robotic system for a given task. Therefore, this paper proposes procedures for carrying out both numerical and experimental estimations of stiffness performance for multibody robotic systems. The numerical procedure is based on models with lumped parameters for deriving the Cartesian stiffness matrix. The experimental procedure for the evaluation stiffness performance is based on a new measuring system named as Milli-CATRASYS (Milli Cassino tracking system) and on a trilateration technique
Keywords :
matrix algebra; robots; tracking; Cartesian stiffness matrix; Milli-CATRASYS; experimental estimations; lumped parameters; multibody robotic systems; numerical estimations; stiffness performance; trilateration technique; Finite element methods; Kinematics; Leg; Legged locomotion; Manipulators; Parallel robots; Performance analysis; Springs; Testing; Transmission line matrix methods;
Conference_Titel :
Automation, Quality and Testing, Robotics, 2006 IEEE International Conference on
Conference_Location :
Cluj-Napoca
Print_ISBN :
1-4244-0360-X
Electronic_ISBN :
1-4244-0361-8
DOI :
10.1109/AQTR.2006.254635
