Kinestatic Control: A Novel Theory for Simultaneously Regulating Force and Displacement

[+] Author and Article Information
M. Griffis, J. Duffy

Center of Intelligent Machines and Robotics, University of Florida, Gainesville, FL 32611

J. Mech. Des 113(4), 508-515 (Dec 01, 1991) (8 pages) doi:10.1115/1.2912812 History: Received June 01, 1990; Online June 02, 2008


A new theory for the simultaneous control of force and displacement for a partially constrained end-effector is established based upon the general spatial stiffness of the manipulator. In general, the spatial stiffness of a compliant coupling that connects a pair of rigid bodies is used to map a small twist between the bodies into the corresponding interactive wrench. This mapping is based upon a firm geometrical foundation and establishes a positive-definite inner product (elliptic metric) that decomposes a general twist into a twist of freedom and a twist of compliance. A study of the invariant properties of this mapping leads to the discovery of what are defined as the eigen-screws of stiffness. Further, the spatial stiffness of a compliant coupling is modeled by theoretically replacing the coupling with a passive Stewart Platform-type parallel mechanism. It is important to recognize that this model does not depend upon the existence of a center-of-compliance. In fact, it describes a general state of spatial stiffness between any two rigid bodies. The culmination of these finding yields a practical and meaningful theory of Kinestatic Control, viz., the simultaneous regulation of force and displacement solely via the control of displacement.

Copyright © 1991 by The American Society of Mechanical Engineers
Topics: Force , Displacement
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