Structure of the spatial stiffness matrix

Journal article

Selig, JM and Ding, X (2002). Structure of the spatial stiffness matrix. International Journal of Robotics and Automation. 17 (1), pp. 1 - 16.
AuthorsSelig, JM and Ding, X
Abstract

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.

Year2002
JournalInternational Journal of Robotics and Automation
Journal citation17 (1), pp. 1 - 16
PublisherACTA Press
ISSN0826-8185
Publication dates
Print01 Jan 2002
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Deposited28 Jun 2016
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