Spatial stiffness matrix from simple stretched springs

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 4, Issue , 2000, Pages 3314-3319

  Selig, J M ^a  

^a LONDON SOUTH BANK UNIVERSITY   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

POTENTIAL FUNCTION; SPATIAL STIFFNESS MATRIX;

MATHEMATICAL MODELS; MECHANISMS; MOTION CONTROL; SPRINGS (COMPONENTS); STIFFNESS MATRIX;

ROBOTICS;

EID: 0033708383     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (9)

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3. M. Griffis and J. Due. Global stiffness modeling of a class of simple compliant coupling. Mechanism and Machine Theory, 28(2):207-224, 1993.
4. S. Huang and J.M. Schimmels. The bounds and realization of spatial stiffnesses achieved with simple springs connected in parallel. IEEE Trans. on Robotics and Automation, 14(3):466-475, 1998.
5. J. Lončarić. Normal forms of stiffness and compliance matrices. IEEE J. of Robotics and Automation, RA-3(6):567-572, 1987.
6. P. J. McKerrow. Introduction to Robotics. Addison-Wesley, Sydney, 1991
7. R.G. Roberts. Minimal realization of spatial stiffness matrix with simple springs connected in parallel. IEEE Trans. Robotics and Automation, 15(5) pp. 953-958
8. B.F. Schutz. Geometrical Methods of Mathematical Physics. Cambridge University Press, Cambridge, 1980.
9. M. Žefran and V. Kumar. Affine connection for the Cartesian stiffness matrix. In Proceedings of the 1997 IEEE International Conference on Robotics and Automatzon, Albuquerque, NM, pages 1376-1381.