DocumentCode
2863957
Title
Synthesis of Cartesian stiffness for robotic applications
Author
Ciblak, Namik ; Lipkin, Harvey
Author_Institution
Sch. of Technol., Georgia Southern Univ., Statesboro, GA, USA
Volume
3
fYear
1999
fDate
1999
Firstpage
2147
Abstract
A new, systematic approach to the synthesis of Cartesian stiffness by springs is presented using screw (spatial vector) algebra. The space of solutions is fully characterized for all stiffnesses realizable by springs. The main result shows that a rank r stiffness can always be synthesized by r springs. Further, it can also be synthesized by an arbitrarily large number of springs greater than r. Synthesis algorithms are presented and numerical results support the theory
Keywords
control system synthesis; flexible structures; matrix algebra; mechanical variables control; robot kinematics; vectors; Cartesian stiffness; robots; screw algebra; spatial vector; springs; Algebra; Algorithm design and analysis; Control system synthesis; Fasteners; Manipulators; Mechanical systems; Orbital robotics; Parallel robots; Space technology; Springs;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.770424
Filename
770424
Link To Document