scholarly journals Joint stiffness identification of six-revolute industrial serial robots

2011 ◽  
Vol 27 (4) ◽  
pp. 881-888 ◽  
Author(s):  
Claire Dumas ◽  
Stéphane Caro ◽  
Sébastien Garnier ◽  
Benoît Furet
Keyword(s):  
Joint Stiffness ◽  
Serial Robots ◽  
Stiffness Identification

scholarly journals Joint stiffness identification of industrial serial robots

Robotica ◽  
2011 ◽  
Vol 30 (4) ◽  
pp. 649-659 ◽  
Author(s):  
Claire Dumas ◽  
Stéphane Caro ◽  
Mehdi Cherif ◽  
Sébastien Garnier ◽  
Benoît Furet
Keyword(s):  
Measurement Errors ◽  
Joint Stiffness ◽  
Experimental Tests ◽  
End Effector ◽  
Identification Method ◽  
Serial Robots ◽  
Stiffness Identification ◽  
Actuated Joints

SUMMARYThis 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.

scholarly journals Joint Stiffness Identification and Deformation Compensation of Serial Robots Based on Dual Quaternion Algebra

2018 ◽  
Vol 9 (1) ◽  
pp. 65 ◽  
Author(s):  
Guozhi Li ◽  
Fuhai Zhang ◽  
Yili Fu ◽  
Shuguo Wang
Keyword(s):  
Quaternion Algebra ◽  
Industrial Robot ◽  
Joint Stiffness ◽  
Industrial Robots ◽  
Identification Algorithm ◽  
Dual Quaternion ◽  
Compensation Algorithm ◽  
Serial Robots ◽  
Stiffness Identification ◽  
Deformation Compensation

As the application of industrial robots is limited by low stiffness that causes low precision, a joint stiffness identification algorithm for serial robots is presented. In addition, a deformation compensation algorithm is proposed for the accuracy improvement. Both of these algorithms are formulated by dual quaternion algebra, which offers a compact, efficient, and singularity-free way in robot analysis. The joint stiffness identification algorithm is derived from stiffness modeling, which is the combination of the principle of virtual work and dual quaternion algebra. To validate the effectiveness of the proposed identification algorithm and deformation compensation algorithm, an experiment was conducted on a dual arm industrial robot SDA5F. The robot performed a drilling operation during the experiment, and the forces and torques that acted on the end-effector (EE) of both arms were measured in order to apply the deformation compensation algorithm. The results of the experiment show that the proposed identification algorithm is able to identify the joint stiffness parameters of serial industrial robots, and the deformation compensation algorithm can improve the accuracy of the position and orientation of the EE. Furthermore, the performance of the forces and torques that acted on the EE during the operation were improved as well.

Joint stiffness identification using FRF measurements

2003 ◽  
Vol 81 (28-29) ◽  
pp. 2549-2556 ◽  
Author(s):  
Tachung Yang ◽  
Shuo-Hao Fan ◽  
Chorng-Shyan Lin
Keyword(s):  
Joint Stiffness ◽  
Stiffness Identification
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