Comments on “The Principal Axes Decomposition of Spatial Stiffness Matrices”

Author

Shuguang Huang ; Schimmels, Joseph M.

Author_Institution

Dept. of Mech. Eng., Marquette Univ., Milwaukee, WI, USA

Volume

31

Issue

6

fYear

2015

Firstpage

1561

Lastpage

1564

Abstract

A significant amount of research has been directed toward developing a more intuitive appreciation of spatial elastic behavior. Results of these analyses have been described in terms of behavior decompositions and in terms of behavior centers. In a recent paper entitled “The Principal Axes Decomposition of Spatial Stiffness Matrices” by Chen et al. (IEEE Trans. Robot., vol. 31, no. 1, pp. 191-207), a decomposition of spatial stiffness was presented, and centers of stiffness and compliance were identified. The results presented in the paper have substantial overlap with previously published results and redefine previously used terms. The objective of this communication is to clarify the contributions of prior work and to standardize the terminology used in describing spatial elastic behavior.

Keywords

elastic constants; matrix decomposition; robot dynamics; behavior centers; behavior decompositions; compliance; principal axis decomposition; spatial elastic behavior; spatial stiffness matrices; stiffness centers; Elasticity; Matrix decomposition; Robot kinematics; Springs; Symmetric matrices; Center of stiffness/compliance; elastic behavior decomposition; force–deflection behavior; force???deflection behavior; spatial stiffness matrix;

fLanguage

English

Journal_Title

Robotics, IEEE Transactions on

Publisher

ieee

ISSN

1552-3098

Type

jour

DOI

10.1109/TRO.2015.2496825

Filename

7332974