Structure of the spatial stiffness matrix
Selig, JM and Ding, X (2002). Structure of the spatial stiffness matrix. International Journal of Robotics and Automation. 17 (1), pp. 1 - 16.
|Authors||Selig, JM and Ding, X|
In this article we review several approaches to studying the spatial stiffness matrix. These include the principal screws of Ball, Lončarić's normal form, and the compliance axes of Patterson and Lipkin. In addition, we reintroduce the invariants found by von Mises in the 1920s. We attempt to describe the work in a common mathematical framework and to make connections between the different viewpoints.
|Journal||International Journal of Robotics and Automation|
|Journal citation||17 (1), pp. 1 - 16|
|01 Jan 2002|
|Publication process dates|
|Deposited||28 Jun 2016|
|Accepted author manuscript|
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