DocumentCode
3280043
Title
Duality of constrained elastic manipulation
Author
Patterson, Timothy ; Lipkin, Harvey
Author_Institution
Georgia Inst. of Technol., Atlanta, GA, USA
fYear
1991
fDate
9-11 Apr 1991
Firstpage
2820
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.132060
Filename
132060
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