Diagonal spatial stiffness matrices

Journal article

Selig, JM and Ding, X (2002). Diagonal spatial stiffness matrices. International Journal of Robotics and Automation. 17 (2), pp. 100 - 106.
AuthorsSelig, JM and Ding, X
Abstract

In this work we study in detail the conditions under which the stiffness matrix of a spatial system can be transformed into block-diagonal and diagonal form. That is the existence of a coordinate frame in which the stiffness matrix takes on these simple forms. The consequences of a block-diagonal or diagonal stiffness matrix for the invariants of the system, principal screws, von Mises' invariants and so forth, are also studied.

Year2002
JournalInternational Journal of Robotics and Automation
Journal citation17 (2), pp. 100 - 106
PublisherACTA Press
ISSN0826-8185
Publication dates
Print01 Jan 2002
Publication process dates
Deposited28 Jun 2016
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