The Extremal Properties of Spatial Stiffness Matrices

Authors

Shuguang Huang, Marquette UniversityFollow
Joseph M. Schimmels, Marquette UniversityFollow

Document Type

Conference Proceeding

Language

eng

Publication Date

5-10-1999

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Source Publication

Proceedings. 1999 IEEE International Conference on Robotics and Automation, 1999

Source ISSN

1050-4729

Abstract

In this paper, the structure and extremal properties of spatial stiffness matrices are investigated. From this work a better understanding of the spatial compliant behavior important in robot interaction tasks is attained. We develop a rank-1 decomposition of a spatial stiffness matrix which is independent of the coordinate frame used to describe the elastic behavior. We also identify the extremal properties associated with this decomposition. To attain better physical insight, analogies are drawn between this unique spatial stiffness matrix decomposition and the conventional eigenvalues decomposition of a translational stiffness matrix.

Comments

Published as a part of the Proceedings. 1999 IEEE International Conference on Robotics and Automation, 1999, DOI.

Recommended Citation

Huang, Shuguang and Schimmels, Joseph M., "The Extremal Properties of Spatial Stiffness Matrices" (1999). Mechanical Engineering Faculty Research and Publications. 109.
https://epublications.marquette.edu/mechengin_fac/109