Normal forms of stiffness and compliance matrices
- 1 December 1987
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Journal on Robotics and Automation
- Vol. 3 (6) , 567-572
- https://doi.org/10.1109/jra.1987.1087148
Abstract
A generalized spring associates potential energy with each position and orientation of a rigid body. The stiffness of such a spring can be represented by a 6 × 6 symmetric matrix. This matrix can be brought to a normal form by a particular choice of the coordinate frame. Analogous but independent results hold for compliance matrices. These results, obtained by using a Lie group approach, also extend the concept of the remote center of stiffness to generic generalized springs.Keywords
This publication has 5 references indexed in Scilit:
- Robotic manipulators and the product of exponentials formulaPublished by Springer Nature ,2005
- Quasi-Static Assembly of Compliantly Supported Rigid PartsJournal of Dynamic Systems, Measurement, and Control, 1982
- Hybrid Position/Force Control of ManipulatorsJournal of Dynamic Systems, Measurement, and Control, 1981
- Compliance and Force Control for Computer Controlled ManipulatorsIEEE Transactions on Systems, Man, and Cybernetics, 1981
- Mathematical Methods of Classical MechanicsPublished by Springer Nature ,1978