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Comments On “The Principal Axes Decomposition Of Spatial Stiffness Matrices”, Shuguang Huang, Joseph M. Schimmels

Mechanical Engineering Faculty Research and Publications

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 …