On the 6 6 Cartesian stiffness matrix for three-dimensional motions.

DOI10.1016/S0094-114X(97)00040-2MaRDI QIDQ1301060zbMATH OpenOpenAlexFDO

Authors Stamps Howard, Vijay Kumar, Miloš Žefran

Publication date 6 September 1999

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/s0094-114x(97)00040-2

Mathematics Subject Classification ID

Kinematics of a rigid body (70B10) Free motion of a rigid body (70E15)

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(10)

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• The decoupling of the Cartesian stiffness matrix in the design of microaccelerometers
• The stiffness matrix in elastically articulated rigid-body systems
• Minimal realizations of spatial stiffnesses with parallel or serial mechanisms having concurrent axes
• The spatial conservative congruence transformation for manipulator stiffness modeling with coordinate and noncoordinate bases
• On the equilibrium of a rigid body suspended by a set of linear springs
• A rigorous framework for interactive robot control
• On the use of quaternions and Euler-Rodrigues symmetric parameters with moments and moment potentials
• Enhanced stiffness modeling of manipulators with passive joints
• On Cartesian stiffness matrices in rigid body dynamics: an energetic perspective

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