Title :
A survey of some results on spatial stiffness matrices
Author :
Roberts, Rodney G. ; Villalta, Janet
Author_Institution :
Dept. of Electr. Eng., Florida State Univ., Tallahassee, FL, USA
Abstract :
We survey some work on the problem of realizing a spatial stiffness matrix with a parallel connection of springs. The techniques described 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 new method for finding a minimal realization of a positive definite spatial stiffness matrix using only line springs. We also introduce a method for finding an isostiffness realization of a 3×3 stiffness matrix
Keywords :
force control; matrix algebra; position control; robots; isostiffness; line springs; minimal realization; passive springs; spatial stiffness matrices; stiffness dominated spatial impedance; Educational institutions; Fasteners; Force control; Impedance; Manipulators; Position control; Robotic assembly; Robots; Springs; Symmetric matrices;
Conference_Titel :
System Theory, 2001. Proceedings of the 33rd Southeastern Symposium on
Conference_Location :
Athens, OH
Print_ISBN :
0-7803-6661-1
DOI :
10.1109/SSST.2001.918548
