Modeling of Elastically Coupled Bodies: Part I—General Theory and Geometric Potential Function Method
- 1 December 1998
- journal article
- Published by ASME International in Journal of Dynamic Systems, Measurement, and Control
- Vol. 120 (4), 496-500
- https://doi.org/10.1115/1.2801491
Abstract
This paper looks at spatio-geometric modeling of elastically coupled rigid bodies. Desirable properties of compliance families are defined (sufficient diversity, parsimony, frame-indifference, and port-indifference). A novel compliance family with the desired properties is defined using geometric potential energy functions. The configuration-dependent wrenches corresponding to these potential functions are derived in a form suitable for automatic computation.Keywords
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