{"title":"RRP平面机械臂的各向同性柔度","authors":"M. Verotti, N. Belfiore","doi":"10.1109/RAAD.2014.7002272","DOIUrl":null,"url":null,"abstract":"In the present paper, the isotropic compliance property is investigated, specifically focusing on RRP plane manipulators. The property is achieved by means of active stiffness regulation, considering three different control strategies, dependent on the joint exerting the control action. For each case, the analytical solutions and the corresponding workspace subsets are presented. To compare the three methods, the active and overall stiffness coefficients are evaluated in the postures defining the isotropic compliance subsets. The feasibility of the methods is also evaluated, considering the passive and active stiffness coefficients.","PeriodicalId":205930,"journal":{"name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","volume":"114 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Isotropic compliance in RRP planar manipulators\",\"authors\":\"M. Verotti, N. Belfiore\",\"doi\":\"10.1109/RAAD.2014.7002272\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In the present paper, the isotropic compliance property is investigated, specifically focusing on RRP plane manipulators. The property is achieved by means of active stiffness regulation, considering three different control strategies, dependent on the joint exerting the control action. For each case, the analytical solutions and the corresponding workspace subsets are presented. To compare the three methods, the active and overall stiffness coefficients are evaluated in the postures defining the isotropic compliance subsets. The feasibility of the methods is also evaluated, considering the passive and active stiffness coefficients.\",\"PeriodicalId\":205930,\"journal\":{\"name\":\"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)\",\"volume\":\"114 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-09-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RAAD.2014.7002272\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RAAD.2014.7002272","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
In the present paper, the isotropic compliance property is investigated, specifically focusing on RRP plane manipulators. The property is achieved by means of active stiffness regulation, considering three different control strategies, dependent on the joint exerting the control action. For each case, the analytical solutions and the corresponding workspace subsets are presented. To compare the three methods, the active and overall stiffness coefficients are evaluated in the postures defining the isotropic compliance subsets. The feasibility of the methods is also evaluated, considering the passive and active stiffness coefficients.
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