Title :
Duality of constrained elastic manipulation
Author :
Patterson, Timothy ; Lipkin, Harvey
Author_Institution :
Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
For unconstrained manipulation, the linear compliance and stiffness models are equivalent. The equivalence does not hold for constrained manipulation, but leads to two dual models. These are analyzed using screw theory and a novel duality is explicitly demonstrated. The eigenstructure of the singular compliance and singular stiffness matrices is determined and several new dual propositions are developed
Keywords :
duality (mathematics); eigenvalues and eigenfunctions; matrix algebra; robots; constrained elastic manipulation; dual models; duality; eigenstructure; robots; screw theory; singular compliance; singular stiffness matrices; stiffness models; Books; Covariance matrix; Eigenvalues and eigenfunctions; Fasteners; Fingers; Manipulators; Mechanical engineering; Robot kinematics; Symmetric matrices; Torque;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.132060
