A Methodology for Joint Stiffness Identification of Serial Robots

被引：41

作者：

Dumas, Claire ^{[1
]}

Caro, Stephane ^{[1
]}

Cherif, Mehdi ^{[1
]}

Garnier, Sebastien ^{[1
]}

Furet, Benoit ^{[1
]}

机构：

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

来源：

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) | 2010年

关键词：

PERFORMANCE INDEXES; MANIPULATORS;

D O I：

10.1109/IROS.2010.5652140

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a new methodology for joint stiffness identification of serial robots. This methodology aims at evaluating all joint stiffness values responsible for both translational and rotational displacements of the robot end-effector subject to an external wrench (force and torque). The links of the robot are supposed to be quite stiffer than the joints and not known 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 number of experimental tests are also analyzed. The Kuka KR240-2 robot is used as an illustrative example through the paper.

引用

页码：464 / 469

页数：6

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