Abstract
This paper discusses two methods for the identification of the stiffness constants of industrial robots joints. The first one requires free motion experiments and aims at the parametric identification of the linearized model of the joint. Some coasideratioas are worked out for a correct design of the experiment, mainly with respect to inertial coupling among links and to the effects of friction. The second method exploits the properties of the manipulator constrained by a rigid surface: in this condition it is possible to perturb one motor position set-point in such a way as to cause no motion of the structure. Measurements of the reaction force at the contact and of the motor position allow a simple estimation of the stiffness constant of the joint. Experimental results, gathered on the industrial robot COMAU SMART3S. are presented together with some comments on the comparison between the proposed methods.
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