The 6×6 stiffness formulation and transformation of serial manipulators via the CCT theory

Author

Chen, Shih-Feng

Author_Institution

Dept. of Mech. Eng., Lunghwa Univ. of Sci. & Technol., Taoyuan, Taiwan

Volume

3

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

4042

Abstract

This paper presents systematic methods to approach the conservative congruence transformation, CCT, via the geometrical analysis for the stiffness control transformation of serial manipulators. Through the strategy of changing basis, the 6×6 Cartesian stiffness of manipulators is shown to be basis dependent. The generalized formulation and symmetric property of the 6×6 Cartesian stiffness matrix are presented via the CCT theory in the presence of external loads. Examples of the serial manipulators are conducted to verify the conservative stiffness mapping.

Keywords

Jacobian matrices; manipulators; mechanical variables control; Cartesian stiffness matrix; Jacobian matrices; conservative congruence transformation theory; conservative stiffness mapping; geometrical analysis; serial manipulators; stiffness control transformation; stiffness formulation; Control systems; Jacobian matrices; Manipulators; Mechanical engineering; Orbital robotics; Robot control; Robot kinematics; Springs; Symmetric matrices; Transmission line matrix methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1242218

Filename

1242218