NDLI: Passive realization of generalized springs

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Passive realization of generalized springs

Content Provider	IEEE Xplore Digital Library
Author	Loncaric, J.
Copyright Year	1991
Description	Author affiliation: Syst. Res. Center, Maryland Univ., College Park, MD, USA (Loncaric, J.)
Abstract	Elastic interactions between two rigid bodies are described by a potential function V. It is shown that there is no natural positive definite metric on the group of rigid body motions SE(3). This fact suggests that it is misleading to identify force vectors with infinitesimal displacement vector. The definition of spring stiffness must be based on group structure since Euclidean metric is not available. Spring stiffness is defined on the basis of exponential coordinates, and it is proved that all stiffness matrices, including unstable ones, may be realized from stable line springs. a related problem of realizing generalized dampers from passive elements is shown to be more difficult because dampers (unlike springs) do not allow energy storage.
Starting Page	116
Ending Page	121
File Size	389795
Page Count	6
File Format	PDF
ISBN	0780301064
ISSN	21589860
DOI	10.1109/ISIC.1991.187343
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1991-08-13
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Springs Damping Algebra Educational institutions Energy storage Potential energy Acceleration Shock absorbers Control system synthesis Force control
Content Type	Text
Resource Type	Article

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