arXiv Open Access 2011

Cartesian stiffness matrix of manipulators with passive joints: analytical approach

Anatoly Pashkevich Alexandr Klimchik Stéphane Caro Damien Chablat

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Abstrak

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.

Topik & Kata Kunci

cs.RO

Penulis (4)

Anatoly Pashkevich

Alexandr Klimchik

Stéphane Caro

Damien Chablat

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APA MLA BibTeX

Pashkevich, A., Klimchik, A., Caro, S., Chablat, D. (2011). Cartesian stiffness matrix of manipulators with passive joints: analytical approach. https://arxiv.org/abs/1107.4496

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Informasi Jurnal

Tahun Terbit: 2011
Bahasa: en
Sumber Database: arXiv
Akses: Open Access ✓