杜克林, 胡建元, 黄心汉. 机械手柔顺和刚度广义中心分析[J]. 机器人, 1997, 19(4): 306-311..
DU Kelin, HU Jianyuan, HUANG Xinhan. ON GENERALIZED CENTER OF COMPLIANCE AND STIFFNESS OF MANIPULATOR. ROBOT, 1997, 19(4): 306-311..
Abstract：The elastic characteristic of a robot system can generally be modelled by a 6×6 stiffness or compliance matrix.Employing theory of screw,we study the elastic characteristics of robot systems.Stationary values of compliance and stiffness are determined on the basis of minimum energy principle.The analysis involves naturally the concept of center of elasticity.All these simplify the understanding of complex elastic properties.
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