DocumentCode
3177898
Title
Generalized center of compliance and stiffness
Author
Lipkin, Harvey ; Patterson, Timothy
Author_Institution
Georgia Inst. of Technol., Atlanta, GA, USA
fYear
1992
fDate
12-14 May 1992
Firstpage
1251
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location
Nice
Print_ISBN
0-8186-2720-4
Type
conf
DOI
10.1109/ROBOT.1992.220077
Filename
220077
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