The 6/spl times/6 stiffness formulation and transformation of serial manipulators via the CCT theory

@article{Chen2003The6T,
  title={The 6/spl times/6 stiffness formulation and transformation of serial manipulators via the CCT theory},
  author={Shih-Feng Chen},
  journal={2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)},
  year={2003},
  volume={3},
  pages={4042-4047 vol.3}
}
  • Shih-Feng Chen
  • Published 10 November 2003
  • Engineering
  • 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)
This paper presents systematic methods to approach the conservative congruence transformation, CCT, via the geometrical analysis for the stiffness control transformation of serial manipulators. Through the strategy of changing basis, the 6/spl times/6 Cartesian stiffness of manipulators is shown to be basis dependent. The generalized formulation and symmetric property of the 6/spl times/6 Cartesian stiffness matrix are presented via the CCT theory in the presence of external loads. Examples of… 
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