DocumentCode
2819539
Title
Stiffness Performance of Multibody Robotic Systems
Author
Carbone, Giuseppe
Author_Institution
Lab. of Robotics & Mechatronics, Cassino Univ.
Volume
2
fYear
2006
fDate
25-28 May 2006
Firstpage
219
Lastpage
224
Abstract
Stiffness can be considered of primary importance in order to guarantee the successful use of any robotic system for a given task. Therefore, this paper proposes procedures for carrying out both numerical and experimental estimations of stiffness performance for multibody robotic systems. The numerical procedure is based on models with lumped parameters for deriving the Cartesian stiffness matrix. The experimental procedure for the evaluation stiffness performance is based on a new measuring system named as Milli-CATRASYS (Milli Cassino tracking system) and on a trilateration technique
Keywords
matrix algebra; robots; tracking; Cartesian stiffness matrix; Milli-CATRASYS; experimental estimations; lumped parameters; multibody robotic systems; numerical estimations; stiffness performance; trilateration technique; Finite element methods; Kinematics; Leg; Legged locomotion; Manipulators; Parallel robots; Performance analysis; Springs; Testing; Transmission line matrix methods;
fLanguage
English
Publisher
ieee
Conference_Titel
Automation, Quality and Testing, Robotics, 2006 IEEE International Conference on
Conference_Location
Cluj-Napoca
Print_ISBN
1-4244-0360-X
Electronic_ISBN
1-4244-0361-8
Type
conf
DOI
10.1109/AQTR.2006.254635
Filename
4022958
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