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Joint stiffness identification of industrial serial robots

Published online by Cambridge University Press:  08 August 2011

Claire Dumas ,
Stéphane Caro ,
Mehdi Cherif ,
Sébastien Garnier  and
Benoît Furet
Claire Dumas*
Affiliation:
Institut de Recherche en Communications et Cybernétique de Nantes, UMR CNRS no 6597, 1 rue de la Noë, 44321 Nantes, France
Stéphane Caro
Affiliation:
Institut de Recherche en Communications et Cybernétique de Nantes, UMR CNRS no 6597, 1 rue de la Noë, 44321 Nantes, France
Mehdi Cherif
Affiliation:
Laboratoire de Génie Mécanique et Matériaux de Bordeaux, 15 rue Naudet CS 10207, 33175 Gradignan Cedex, France
Sébastien Garnier
Affiliation:
Institut de Recherche en Communications et Cybernétique de Nantes, UMR CNRS no 6597, 1 rue de la Noë, 44321 Nantes, France
Benoît Furet
Affiliation:
Institut de Recherche en Communications et Cybernétique de Nantes, UMR CNRS no 6597, 1 rue de la Noë, 44321 Nantes, France
*
*Corresponding author. E-mail: claire.dumas@irccyn.ec-nantes.fr
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Summary

This paper presents a new methodology for the joint stiffness identification of industrial serial robots and as consequence for the evaluation of both translational and rotational displacements of the robot's end-effector subject to an external wrench (force and torque). In this paper, the robot's links are supposed to be quite stiffer than the actuated joints as it is usually the case with industrial serial robots. The robustness of the identification method and the sensitivity of the results to measurement errors, and the number of experimental tests are also analyzed. The Kuka KR240-2 robot is used as an illustrative example throughout the paper.

Keywords

Stiffness analysisJoint stiffness identificationSerial robots
Type
Articles
Information
Robotica , Volume 30 , Issue 4 , July 2012 , pp. 649 - 659
Copyright
Copyright © Cambridge University Press 2011

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