Stiffness matrix of manipulators with passive joints: computational aspects

Ecole des Mines de Nantes, 4 rue Alfred-Kastler, Nantes 44307, France
Institut de Recherches en Communications et en Cybernetique de Nantes, 1 rue de la Noe, 44321 Nantes, France

(Submmited to "IEEE Transactions on Robotics", 2011)

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Abstract

I. Introduction

II. Motivation example

III. Passive joints in a serial chains

IV. Passive joints in a parallel manipulator

V. Computational techniques

VI. Application examples

Conclusion

Appendix A : Properties of the stiffness matrix Kc

Appendix B: Recursive computation of the stiffness matrix Kc

References

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