DocumentCode
2137033
Title
Passive compliance synthesis
Author
Roberts, Rodney G. ; Fabre, Enos
Author_Institution
Dept. of Electr. & Comput. Eng., Florida State Univ., Tallahassee, FL, USA
fYear
2002
fDate
2002
Firstpage
214
Lastpage
218
Abstract
In this article we survey some recent work on the problem of realizing a spatial stiffness matrix with a parallel connection of springs. The techniques described here can be used to realize an arbitrarily specified stiffness dominated spatial impedance through the use of a mechanism constructed of passive springs. The article includes a discussion on how to rind an optimal realization of a positive definite spatial stiffness matrix using a parallel connection of springs.
Keywords
compliance control; matrix algebra; mechanical variables control; optimisation; robots; optimization; parallel spring connection; passive compliance synthesis; passive springs; robotics; spatial impedance; spatial stiffness matrix; Educational institutions; Fasteners; Force control; Impedance; Manipulators; Position control; Robotic assembly; Robots; Springs; Symmetric matrices;
fLanguage
English
Publisher
ieee
Conference_Titel
System Theory, 2002. Proceedings of the Thirty-Fourth Southeastern Symposium on
ISSN
0094-2898
Print_ISBN
0-7803-7339-1
Type
conf
DOI
10.1109/SSST.2002.1027037
Filename
1027037
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