Compliance design method using linear programming

An approach for designing compliance matrices using linear programming is presented. Compliance is treated as a linear mapping from a force to a corrected motion and is constructed on the basis of geometric information. The four conditions required of an appropriate compliance matrix (stability, feasibility, velocity dependency and error correctivity) are discussed. These conditions are formulated as a set of linear inequalities, and the compliance matrix design problem is reduced to a linear programming problem, with this set of inequalities as constraints. The usefulness of this method is shown by simulation and some experimental assembly tasks