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.
Geometrical Interpretation of the CCT Stiffness Mapping for Serial Manipulators
2003-01-01
13 pages
Article/Chapter (Book)
Electronic Resource
English
Stiffness Matrix , Jacobian Matrix , Geometrical Interpretation , Stiffness Matrice , Joint Torque Engineering , Robotics and Automation , Control, Robotics, Mechatronics , Artificial Intelligence (incl. Robotics) , Appl.Mathematics/Computational Methods of Engineering , Machinery and Machine Elements
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