Abstract
In this work we study in detail the conditions under which the stiffness matrix of a spatial system can be transformed into block-diagonal and diagonal form. That is the existence of a coordinate frame in which the stiffness matrix takes on these simple forms. The consequences of a block-diagonal or diagonal stiffness matrix for the invariants of the system, principal screws, von Mises' invariants and so forth, are also studied.
| Original language | English |
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| Pages (from-to) | 100 - 106 |
| Journal | International Journal of Robotics and Automation |
| Publication status | Published - 1 Jan 2002 |
| Externally published | Yes |