Stiffness Matrix of Manipulators With Passive Joints: Computational Aspects

This paper focuses on stiffness matrix computation for manipulators with passive joints, compliant actuators, and flexible links. It proposes both explicit analytical expressions and an efficient recursive procedure that are applicable in the general case and allow us to obtain the desired matrix ei...

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Bibliographic Details
Published in:IEEE transactions on robotics 2012-08, Vol.28 (4), p.955-958
Main Authors: Klimchik, A., Pashkevich, A., Caro, S., Chablat, D.
Format: Article
Language:English
Subjects:
Actuators
Applied sciences
Computation
Computational modeling
Computer Science
Computer science
control theory
systems
Control theory. Systems
Drives
Exact sciences and technology
Exact solutions
Fundamental areas of phenomenology (including applications)
Jacobian matrices
Joints
Kinematics
Legged locomotion
Linkage mechanisms, cams
Manipulation
Manipulators
Mathematical analysis
Mathematical models
Matrix
Mechanical engineering. Machine design
Numerical analysis
Parallel manipulators
passive joints
Physics
recursive computations
Robot arms
Robotics
Solid dynamics (ballistics, collision, multibody system, stabilization...)
Solid mechanics
Stiffness matrices
Stiffness matrix
stiffness modeling
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Summary:This paper focuses on stiffness matrix computation for manipulators with passive joints, compliant actuators, and flexible links. It proposes both explicit analytical expressions and an efficient recursive procedure that are applicable in the general case and allow us to obtain the desired matrix either in analytical or numerical form. Advantages of the developed technique and its ability to produce both singular and nonsingular stiffness matrices are illustrated by application examples that deal with stiffness modeling of two Stewart-Gough platforms.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2012.2187395