Title :
The spatial stiffness matrix from simple stretched springs
Author_Institution :
Sch. of Comput., Inf. Sys. & Math., South Bank Univ., London, UK
Abstract :
Looks at the stiffness matrix of some simple but very general systems of springs supporting a rigid body. The stiffness matrix is found by symbolically differentiating the potential function. After a short example attention turns to the general structure of the stiffness matrix and in particular the principal screws introduced by Ball (1900)
Keywords :
Lie algebras; differentiation; eigenvalues and eigenfunctions; matrix algebra; robots; potential function; principal screws; rigid body; simple stretched springs; spatial stiffness matrix; symbolic differentiation; Algebra; Fasteners; Potential energy; Robots; Springs; Symmetric matrices; Tensile stress;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.845218
