Title :
Generalized center of compliance and stiffness
Author :
Lipkin, Harvey ; Patterson, Timothy
Author_Institution :
Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
The elastic characteristics of many robot systems can be modeled by a 6×6 stiffness or compliance matrix. Three results are presented via screw theory. First, stationary values of compliance and stiffness are determined. Second, linear and rotational properties are characterized by dual ellipsoids in three-dimensional space. Third, a generalized center-of-elasticity (compliance and stiffness) is proposed. If a compliant axis exists, it is shown to pass through the center. These elements simplify the understanding of complex elastic properties
Keywords :
compliance control; elasticity; robots; 3D space; compliance matrix; dual ellipsoids; elastic characteristics; linear property; robot systems; rotational properties; screw theory; stiffness; Control systems; Elasticity; Fasteners; Mechanical engineering; Orbital robotics; Potential energy; Robots; Stability; Symmetric matrices; Torque;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220077
