Diagonal spatial stiffness matrices

被引：0
|
作者：
Selig, J.M. [1 ]
Ding, X. [1 ]
机构：
[1] School of Computing, Information Systems and Mathematics, South Bank University, London SE1 0AA, United Kingdom
来源：
International Journal of Robotics and Automation | 2002年 / 17卷 / 02期
关键词：
Control system synthesis - Invariance - Mathematical models - Stiffness matrix;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
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.
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页码：100 / 106
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