Joint stiffness identification of industrial serial robots

被引：81

作者：

Dumas, Claire ^{[1
]}

Caro, Stephane ^{[1
]}

Cherif, Mehdi ^{[2
]}

Garnier, Sebastien ^{[1
]}

Furet, Benoit ^{[1
]}

机构：

[1] CNRS, UMR 6597, Inst Rech Commun & Cybernet Nantes, F-44321 Nantes, France

[2] Lab Genie Mecan & Mat Bordeaux, F-33175 Gradignan, France

来源：

ROBOTICA | 2012年 / 30卷

关键词：

Stiffness analysis; Joint stiffness identification; Serial robots; PERFORMANCE INDEXES; MANIPULATOR; DESIGN;

D O I：

10.1017/S0263574711000932

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：649 / 659

页数：11

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