The Extremal Properties of Spatial Stiffness Matrices
Institute of Electrical and Electronics Engineers (IEEE)
Proceedings. 1999 IEEE International Conference on Robotics and Automation, 1999
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.