Abstract Recent research results suggested a conservative transformation to correct the well-known congruence transformation between Cartesian and joint stiffness matrices of a serial manipulator. This paper utilizes screw geometry to interpret the conservative congruence transformation (CCT). The analysis using screw theory provides better geometric insights into the CCT. The effective geometrical stiffness matrix, due to the change of manipulator geometry under stiffness control in the presence of external force, is confirmed. This paper also points out several erroneous assumptions that may have led to the incorrect formulation of the conventional congruence transformation.


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    Title :

    Geometrical Interpretation of the CCT Stiffness Mapping for Serial Manipulators


    Contributors:
    Huang, Chintien (author) / Kao, Imin (author)


    Publication date :

    2003-01-01


    Size :

    13 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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