2011
DOI: 10.1007/978-3-642-25489-5_37
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Stiffness Identification for Serial Robot Manipulator Based on Uncertainty Approach

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Cited by 10 publications
(4 citation statements)
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“…Equations (14) to (16) give the joint angles vectors associated with the three optimal measurement poses.…”
Section: Optimisation Resultsmentioning
confidence: 99%
“…Equations (14) to (16) give the joint angles vectors associated with the three optimal measurement poses.…”
Section: Optimisation Resultsmentioning
confidence: 99%
“…Since τ J is sensed by most robots, such as KUKA LWR III, 4+ and IIWA, as mentioned in [20], optimized dynamics parameters are those involved in equation (2a). Additional drive train parameters are obtained from the literature, such as from [23] for joint stiffnesses in our KUKA KR 16 model in Fig. 6(b) and [20] for the gear-reduction range in our LWR /IIWA models.…”
Section: A Robot Dynamics Capturementioning
confidence: 99%
“…Then researchers continued to develop an alternative approach, which is based on the analysis of joint stiffness and the calculation of joint deformation through joint stiffness. XP Zhang et al [7], CT Mao et al [8], Guo Yingjie et al [9], Lin Y et al [10] and Klimchi [11] have succeed to model the errors of different robots by this approach, and results showed that this approach is good in establishing the connection between robot joints and end deformation errors.…”
Section: Introductionmentioning
confidence: 99%