Stiffness matrix analysis of six-revolute serial manipulator

Acta Mechanica et Automatica

Volumn 6, Issue 2, 2012, Pages 62-65

  Knapczyk, Józef ^a   Ryska, Mateusz ^a  

^a CRACOW UNIVERSITY OF TECHNOLOGY   (Poland)

Author keywords

Cartesian Stiffness Matrix; Jacobian Matrix; Serial Manipulator

Indexed keywords

EID: 84865071982     PISSN: 18984088     EISSN: None     Source Type: Journal    
DOI: None     Document Type: Article

References (6)

1. Dumas C. et al. (2011), Joint stiffness identification of six-revolute industrial serial robots. Robotics and Computer-Integrated Manufacturing 27, 881-888.
2. Góra M., Trela R. (2011a), Determination of stiffness characteristics of serial type manipulator by using wire sensors. Technical Transactions, Czasopismo Techniczne, Wyd. PK, Kraków, 1M/2011, 41-48.
3. Góra M., Trela R. (2011b), Experimental determination of stiffness matrix elements of serial type manipulator, Pomiary Automatyka Robotyka, 2/2011, 687-696.
4. Kim H.Y., Treit D.A. (1995), Configuration dependent stiffness of the PUMA 560 manipulator: Analytical and experimental results. Mechanism and Machine Theory, Vol.30, No 8, 1269-1277.
5. Morecki A., Knapczyk J., Kedzior K. (2002), Theory of mechanisms and manipulators, WNT Warszawa.
6. Tsai L.W., (1999), Robot Analysis. The Mechanics of Serial and Parallel Manipulators, A Wiley & Sons, Inc. New York.