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The spatial stiffness matrix from simple stretched springs

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1 Author(s)
Selig, J.M. ; Sch. of Comput., Inf. Sys. & Math., South Bank Univ., London, UK

Looks at the stiffness matrix of some simple but very general systems of springs supporting a rigid body. The stiffness matrix is found by symbolically differentiating the potential function. After a short example attention turns to the general structure of the stiffness matrix and in particular the principal screws introduced by Ball (1900)

Published in:

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

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