Title :
Synthesis of Cartesian stiffness for robotic applications
Author :
Ciblak, Namik ; Lipkin, Harvey
Author_Institution :
Sch. of Technol., Georgia Southern Univ., Statesboro, GA, USA
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;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.770424
