To compare the proposed techniques with the experimental approach, the robot deformation under load is simulated and the tool displacement is estimated. It is shown that both approaches are equivalent in terms of accuracy. While the experimental method is easier to implement, the algebraic approach allows analyzing the contribution of each link in a reduced model of elasticity. Besides, the obtained estimate of the parameters does not depend on the accuracy of measurements and configurations used in the identification process.
Algebraic technique for the stiffness model reduction in elastostatic calibration of robotic manipulators