The extremal properties of spatial stiffness matrices

Author

Huang, Shuguang ; Schimmels, Joseph M.

Author_Institution

Dept. of Mech. & Ind. Eng., Marquette Univ., Milwaukee, WI, USA

Volume

1

fYear

1999

fDate

1999

Firstpage

182

Abstract

In this paper, the structure and extremal properties of spatial stiffness matrices are investigated. From this work a better understanding of the spatial compliant behavior important in robot interaction tasks is attained. We develop a rank-1 decomposition of a spatial stiffness matrix which is independent of the coordinate frame used to describe the elastic behavior. We also identify the extremal properties associated with this decomposition. To attain better physical insight, analogies are drawn between this unique spatial stiffness matrix decomposition and the conventional eigenvalues decomposition of a translational stiffness matrix

Keywords

eigenvalues and eigenfunctions; matrix decomposition; robots; compliant behavior; decomposition; eigenscrews; eigenvalues; elastic behavior; extremal property; interaction tasks; robots; spatial stiffness matrix; Eigenvalues and eigenfunctions; Fasteners; Industrial engineering; Matrix decomposition; Mechanical factors; Robot kinematics; Robotic assembly; Service robots; Springs; Symmetric matrices;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.769962

Filename

769962