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Normal forms of stiffness and compliance matrices

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1 Author(s)
J. Loncaric ; Harvard University, Cambridge, MA, USA

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.

Published in:

IEEE Journal on Robotics and Automation  (Volume:3 ,  Issue: 6 )