Abstract
Stiffness can be considered of primary importance in order to guarantee the successful use of any robotic system for a given task. Therefore, this paper proposes procedures for carrying out both numerical and experimental estimations of stiffness performance for multibody robotic systems. The numerical procedure is based on models with lumped parameters for deriving the Cartesian stiffness matrix. The experimental procedure for the evaluation stiffness performance is based on a new measuring system named as Milli-CATRASYS (Milli Cassino tracking system) and on a trilateration technique
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