受動関節を持つマニピュレータの剛性行列：計算的側面
Stiffness matrix of manipulators with passive joints: computational aspects
受動関節・柔軟アクチュエータ・柔軟リンクを持つマニピュレータの剛性行列を、解析式と効率的な再帰計算手順の両方で求める手法を提案し、2つのスチュワート・ゴフプラットフォームで有効性を示した。
著者: Alexandr Klimchik, Anatoly Pashkevich, Stéphane Caro, Damien Chablat
分類: cs.RO
原文アブストラクト
The paper focuses on stiffness matrix computation for manipulators with passive joints, compliant actuators and flexible links. It proposes both explicit analytical expressions and an efficient recursive procedure that are applicable in the 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.
