Geometrica Method for Modeling for Asymmetric.pdfVIP

Proceedings of the 2000 IEEE,RS/ lnternational Conference on lnteiligent Robots and Systems Geometrical Method for Modeling of Asymmetric 6 x 6 Cartesian Stiffness Matrix Shih-Feng Chen* Dept. of Mechanical Engineering Lunghwa Institute of Technology Kueishan Taoyuan, Taiwan Phone: (02 Abstract In this paper, we study the 6 x 6 Cartesian stiffness matrices of conservative systems using the method of changing basis in differential geometry of the motion of the rigid body. We show that the stiffness matrix is symmetric at the unloaded equilibnum configuration. When the system is subjected to external loads, the 6x6 Cartesian stiffness matrix becomes asymmetric. The skew-symmetric part of the stiffness matrix is equal to the negative one-half of the cross-product matrix formed b y the externally applied load, referenced to the inertial frame. The method presented in this paper provrdes a systematic way of constructing 6x6 stiffness matrix in robotic gmsping/manipulation and stiffness control. Keywords: stiffness control, congruence transforma- tion, impedance control, asymmetric stiffness matrix. 1 Introduction The conservative congruence transformation of R3x3 stiffness matrices between the Cartesian and joint spaces, was presented by Chen and Kao in [2, 3, 41 J F K J ~ = K~ - K, (1) where matrices K and KO denote the Cartesian and joint stiffness matrices, respectively. The n x R ma- trix K,, where n is the degree of freedom in the *Assistant Professor, Department of Mechanical Engineer- ing. The work presented in this paper was performed while he was a research assistant at SUNY Stony Brook. t Associate Professor, Department of Mechanical Engineer- ing; email: kao@mal.eng.sunysb.edu. Imin Kaot Dept. of Mechanical Engineering SUNY at Stony Brook Stony Brook, NY 11794-2300 kao@mal .eng.sunysb.edu joint space, defines the product of the changes in ge- ometry via the differential Jacobian matrix and ex- ternall