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Synthesizing a positive definite spatial stiffness matrix with a hybrid connection of simple compliances

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2 Author(s)
Roberts, R.G. ; Dept. of Electr. Eng., Florida State Univ., Tallahassee, FL ; Shirey, T.A.

Achieving adequate force control is an important problem in the application of robotics technology to manufacturing tasks. This is particularly true for assembly tasks that require constrained interaction between a robotic manipulator and a work-part. One approach to this problem is the use of passive compliance. This can be accomplished by realizing a given spatial stiffness or compliance matrix with a connection of simple compliances. Isotropic spatial stiffness matrices can be realized with a parallel connection of simple springs. Similarly, a serial connection of simple compliances can realize an isotropic compliance matrix. However, the family of isotropic stiffness and compliance matrices constitute a very small subset of the family of all stable stiffness/compliance matrices. In this article, we propose a method to realize any positive definite spatial stiffness/compliance matrix using a hybrid connection of simple compliances

Published in:

Automation Congress, 2004. Proceedings. World  (Volume:15 )

Date of Conference:

June 28 2004-July 1 2004