Active Joint Stiffness Regulation to Achieve Isotropic Compliance in the Euclidean Space

Journal of Mechanisms and Robotics

Volumn 4, Issue 4, 2012, Pages

  Belfiore, Nicola P ^a   Verotti, Matteo ^a   Di Giamberardino, Paolo ^a   Rudas, Imre J ^b  

^a SAPIENZA UNIVERSITY OF ROME   (Italy)

^b ÓBUDA UNIVERSITY   (Hungary)

Author keywords

[No Author keywords available]

Indexed keywords

CLASSICAL PROBLEMS; CLOSED FORM SOLUTIONS; CONDITION NUMBERS; DISPLACEMENT RESPONSE; EUCLIDEAN SPACES; EXTERNAL FORCE; FORCE-DISPLACEMENT; JOINT STIFFNESS; KINETOSTATIC; POSITIVE DEFINITE; PROPORTIONAL-DERIVATIVE CONTROLLERS; SPECIAL EUCLIDEAN GROUP; STATIC BEHAVIORS; STATIC CONDITIONS;

GEOMETRY; JACOBIAN MATRICES; NUMBER THEORY; STIFFNESS MATRIX;

STIFFNESS;

EID: 84866309643     PISSN: 19424302     EISSN: 19424310     Source Type: Journal    
DOI: 10.1115/1.4007307     Document Type: Article

References (38)

1. Ball S. A Treatise on the Theory of Screws 1998, Cambridge University Press, Cambridge, UK.
2. McCarthy J.M. Introduction to Theoretical Kinematics 1990, MIT Press, Cambridge, MA.
3. Lipkin H. Geometry and Mapping of Screws With Application of the Control of Robot Manipulators. 1985, Ph.D. thesis, University of Florida, Gainesville, FL.
4. Patterson T. Lipkin H.A. Structure of Robot Compliance. Trans. ASME J. Mech. Des. 1993, 115(5):576-580. 10.1115/1.2919228
5. Patterson T. Lipkin H.A. A Classification of Robot Compliance. Trans. ASME J. Mech. Des. 1993, 115(5):581-584. 10.1115/1.2919229
6. Ciblak N. Lipkin H. Synthesis of Cartesian Stiffness for Robotic Applications. 1999, 3:2147-2152. and IEEE International Conference on Robotics and Automation, Vol. IEEE, Detroit, MI.
7. Uchiyama M. Bayo E. Palma-Villalon E. A Systematic Design Procedure to Minimize a Performance Index for Robot Force Sensors. J. Dyn. Syst., Meas., Control 1993, 113(3):388-395. 10.1115/1.2896422
8. Pottmann H. Peternell M. Ravani B. An Introduction to Line Geometry With Applications. Comput.-Aided Des. 1999, 31(1):3-16. 10.1016/S0010-4485(98)00076-1
9. Wolf A. Shoham M. Investigation of Parallel Manipulators Using Linear Complex Approximation. Mech. Des. 2003, 125(3):564-572. 10.1115/1.1582876
10. Vinogradov I.B. Kobrinski A.E. Stepanenko Y.E. Tives L.T. Details of Kinematics of Manipulators With the Method of Volumes. Mekhanika Mashin 1971, 1(5):5-16. and pp. (in Russian).
11. Yang D.C. Lai Z.C. On the Conditioning of Robotic Manipulators-Service Angle. ASME J. Mech., Transm., Autom. Des. 1985, 107(5):262-270. 10.1115/1.3258719
12. Kumar A. Waldron K.J. The Workspace of a Mechanical Manipulator. ASME J. Mech. Des. 1981, 103:665-672. 10.1115/1.3254968
13. Yoshikawa T. Analysis and Control of Robot Manipulators With Redundancy. 1984, 735-747. Robotics Research: The First International Symposium.
14. Yoshikawa T. Manipulability of Robotic Mechanisms. Int. J. Rob. Res. 1985, 4(2):3-9. 10.1177/027836498500400201, pp.
15. Paul R.P. Stevenson C.N. Kinematics of Robot Wrists. Int. J. Rob. Res. 1983, 2(1):31-38. 10.1177/027836498300200103
16. Forsythe G.E. Moler C.B. Computer Solution of Linear Algebraic Systems 1967, 7. and Vol. Prentice-Hall, New Jersey.
17. Salisbury J. Craig J. Articulated Hands: Force Control and Kinematic Issues. Int. J. Rob. Res. 1982, 1(1):4-17. 10.1177/027836498200100102
18. Angeles J. Rojas A. Manipulator Inverse Kinematics via Condition-Number Minimization and Continuation. Int. J. Rob. Autom. 1987, 2(2):61-69. and pp.
19. Angeles J. López-Cajún C.S. Kinematic Isotropy and the Conditioning Index of Serial Robotic Manipulators. Int. J. Rob. Res. 1992, 11(6):560-571. 10.1177/027836499201100605
20. Klein C.A. Blaho B.E. Dexterity Measures for the Design and Control of Kinematically Redundant Manipulators. Int. J. Rob. Res. 1987, 6(2):72-83. 10.1177/027836498700600206
21. Gosselin C. Dexterity Indices for Planar and Spatial Robotic Manipulators. 1990, 650-655. IEEE International Conference on Robotics and Automation, IEEE, Cincinnati, OH.
22. Gosselin C. Angeles J. A Global Performance Index for the Kinematic Optimization of Robotic Manipulators. J. Mech. Des. 1991, 113:220-226. 10.1115/1.2912772
23. Klein C.A. Miklos T.A. Spatial Robotic Isotropy. Int. J. Rob. Res. 1991, 10(4):426-437. 10.1177/027836499101000410
24. Angeles J. The Design of Isotropic Manipulator Architectures in the Presence of Redundancies. Int. J. Rob. Res. 1992, 11(3):196-201. 10.1177/027836499201100303, pp.
25. Park F.C. Brockett R.W. Kinematic Dexterity of Robotic Mechanisms. Int. J. Rob. Res. 1994, 13(1):1-15. 10.1177/027836499401300101
26. Park F.C. Optimal Robot Design and Differential Geometry. J. Mech. Des. 1995, 117:87-92. 10.1115/1.2836475, p.
27. Kim J.O. Khosla K. Dexterity Measures for Design and Control of Manipulators. 1991, 758-763. and IEEE/RSJ International Workshop on Intelligent Robots and Systems, IEEE, Osaka, Japan.
28. Stocco L. Salcudean S.E. Sassani F. Mechanism Design for Global Isotropy With Applications to Haptic Interfaces. 1997, 61:115-122. and Proceedings of ASME Winter Annual Meeting, Vol. pp.
29. Stocco L. Salcudean S.E. Sassani F. Fast Constrained Global Minimax Optimization of Robot Parameters. Robotica 1998, 16(06):595-605. 10.1017/S0263574798000435
30. Merlet J.P. Jacobian, Manipulability, Condition Number, and Accuracy of Parallel Robots. J. Mech. Des. 2006, 128:199-206. 10.1115/1.2121740, p.
31. Cardou P. Bouchard S. Gosselin C. Kinematic-Sensitivity Indices for Dimensionally Nonhomogeneous Jacobian Matrices. IEEE Trans. Rob. 2010, 26(1):166-173. 10.1109/TRO.2009.2037252
32. Gogu G. Structural Synthesis of Fully-Isotropic Translational Parallel Robots via Theory of Linear Transformation. Eur. J. Mech. A/Solids 2004, 23(2):1021-1039. 10.1016/j.euromechsol.2004.08.006, pp.
33. Asbeck A. Cutkosky M. Designing Compliant Spine Mechanisms for Climbing. ASME J. Mech. Rob. 2012, 4(031007):3-8. 10.1115/1.40066591
34. Salisbury J.K. Active Stiffness Control of a Manipulator in Cartesian Coordinates. 1980, 19:95-100. 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes, Vol. IEEE, Albuquerque, NM.
35. De Luca A. Book W. Robots With Flexible Elements. Handbook of Robotics 2008, 287-287. B. Siciliano, O. Khatib, and and eds., Springer, New York.
36. Verotti M. Cappa F. Crescenzi R. Belfiore N.P. Balucani M. Kolibal E.Z. Construction and Experimental Simulation of a Tethered MEMS-Based 3 DOF Silicon Micro Robot. 2011, and Proceedings of the RAAD 2011, 20th International Workshop on Robotics in Alpe-Adria-Danube Region, ed.
37. Balucani M. Belfiore N.P. Crescenzi R. Verotti M. The Development of a MEMS/NEMS-Based 3 DOF Compliant Micro Robot. Int. J. Mech. Control 2011, 12(1):3-10. and pp.
38. Belfiore N.P. Faglia R. Resconi G. Revisiting Some Static and Kinematic Features of a SCARA Robot by Means of GSLT and the Lie Product. 1993, 8. and 3rd National Conference on Applied Mechanisms and Robotics, Vol.