Passive compliance synthesis
Proceedings of the Thirty-Fourth Southeastern Symposium on System Theory (Cat. No.02EX540) - Trang 214-218
Tóm tắt
In this article we survey some recent work on the problem of realizing a spatial stiffness matrix with a parallel connection of springs. The techniques described here can be used to realize an arbitrarily specified stiffness dominated spatial impedance through the use of a mechanism constructed of passive springs. The article includes a discussion on how to rind an optimal realization of a positive definite spatial stiffness matrix using a parallel connection of springs.
Từ khóa
#Springs #Robotic assembly #Manipulators #Symmetric matrices #Robots #Force control #Fasteners #Educational institutions #Impedance #Position controlTài liệu tham khảo
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