Cartesian stiffness matrix of manipulators with passive joints: analytical approach

Details Cartesian stiffness matrix of manipulators with passive joints: analytical approach Cartesian stiffness matrix of manipulators with passive joints: analytical approach

2011-07-22

arxiv.org/abs/1107.4496v1

Computer Science

Robotics

IEEE/RSJ International Conference on Intelligent Robots and Systems, San Franisco : United States (2011)

Scientific paper

The paper focuses on stiffness matrix computation for manipulators with passive joints. It proposes both explicit analytical expressions and an efficient recursive procedure that are applicable in general case and allow obtaining the desired matrix either in analytical or numerical form. Advantages of the developed technique and its ability to produce both singular and non-singular stiffness matrices are illustrated by application examples that deal with stiffness modeling of two Stewart-Gough platforms.

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