Title :
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
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;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.769962
