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


A significant amount of analysis has been directed toward developing a a lot of 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 an exceedingly 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 within the paper have substantial overlap with previously published results and redefine previously used terms. The target of this Communication is to clarify the contributions of previous work and to standardize the terminology used in describing spatial elastic behavior.

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