Abstract
In this article we review several approaches to studying the spatial stiffness matrix. These include the principal screws of Ball, Lončarić's normal form, and the compliance axes of Patterson and Lipkin. In addition, we reintroduce the invariants found by von Mises in the 1920s. We attempt to describe the work in a common mathematical framework and to make connections between the different viewpoints.
| Original language | English |
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| Pages (from-to) | 1 - 16 |
| Journal | International Journal of Robotics and Automation |
| Publication status | Published - 1 Jan 2002 |
| Externally published | Yes |