Abstract
Industrial robots have been widely used in manufacturing for advantages of flexibility and high efficiency, while there exists a critical problem of low stiffness. Measuring the stiffnesses of joints accurately have a positive effect on optimizing the stiffness through compensation or posture adjustment. This study proposed a new method for stiffness identification of serial industrial robots using 3D digital image correlation (3D-DIC) techniques, which exhibits high accuracies. External forces are applied to the robot end and its 6-dimensional displacements are recorded with a 3D-DIC system. The values of joint stiffness are evaluated from the data of robot configurations, displacements and forces. The proposed method is implemented on the KUKA KR600-2830 robot experimentally and the average absolute value of relative error is 5.8%, which demonstrates that the proposed method provides much improved accuracy compared to the traditional method.
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Schedule a callMore From: Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
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