Abstract
Robot stiffness synthesis, with the goal of obtaining given instantaneous displacements for known loads, may result in a non-feasible stiffness matrix. This paper presents a stiffness synthesis scheme that generates a feasible stiffness matrix, which, for a known set of wrenches, results in optimized end-effector twists as close as possible to the given ones. This was achieved by minimizing the variance between the given and the actual motion screw parameters formulated as a non-linear optimization problem. This approach is demonstrated in an artificial spinal disc joint that consists of a passive parallel robot structure, designed to resemble the natural motion of adjacent spine vertebrae under a known set of loads.
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