Modeling of Elastically Coupled Bodies: Part I—General Theory and Geometric Potential Function Method
1998 ◽
Vol 120
(4)
◽
pp. 496-500
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Keyword(s):
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.
2004 ◽
Vol 15
(03)
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pp. 403-408
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2002 ◽
Vol 8
(3)
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pp. 169-180
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2000 ◽
Vol 85
(24)
◽
pp. 5242-5245
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Keyword(s):
Keyword(s):
1997 ◽
Vol 73
(3)
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pp. 1281-1287
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2004 ◽
Vol 36
(2)
◽
pp. 161-165
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