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TECHNICAL PAPERS

A Geometrical Approach to the Study of the Cartesian Stiffness Matrix

[+] Author and Article Information
Miloš Žefran

Dept. of Electrical and Computer Engineering, University of Illinois at Chicago, 851 S. Morgan St., Chicago, IL 60607

Vijay Kumar

GRASP Laboratory, Dept. of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, 3401 Walnut St., Philadelphia, PA 19104-6228

J. Mech. Des 124(1), 30-38 (Oct 01, 1998) (9 pages) doi:10.1115/1.1423638 History: Received October 01, 1998
Copyright © 2002 by ASME
Topics: Stiffness
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References

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do Carmo, M. P., 1992. Riemannian Geometry. Birkhauser, Boston.
Simo,  J. C., 1992, “The (Symmetric) Hessian for Geometrically Nonlinear Models in Solid Mechanics: Intrinsic Definition and Geometric Interpretation,” Comput. Methods Appl. Mech. Eng., 96, No. 2, pp. 189–200.
Paul, Richard P., 1981, Robot Manipulators: Mathematics, Programming, and Control, The MIT Press.
Howard, W. S., 1995. “Stability of Grasped Objects: Beyond Force Closure.” PhD thesis, University of Pennsylvania.
Žefran,  M., Kumar,  V., and Croke,  C., 1999. “Metrics and Connections for Rigid Body Kinematics,” Int. J. Robot. Res., 18, No. 2, pp. 243–258.

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