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.
Isotropic compliance in RRP planar manipulators / Verotti, Matteo; Belfiore, Nicola Pio. - ELETTRONICO. - (2014), pp. 1-6. (Intervento presentato al convegno 23rd International Conference on Robotics in Alpe-Adria-Danube Region, IEEE RAAD 2014 tenutosi a Smolenice Castle, svk nel 2014) [10.1109/RAAD.2014.7002272].
Isotropic compliance in RRP planar manipulators
VEROTTI, Matteo;BELFIORE, Nicola Pio
2014
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
