Abstract
The paper focuses on the stiffness modeling of robotic manipulators with gravity compensators. The main attention is paid to the development of the stiffness model of a spring-based compensator located between sequential links of a serial structure. The derived model allows us to describe the compensator as an equivalent non-linear virtual spring integrated in the corresponding actuated joint. The obtained results have been efficiently applied to the stiffness modeling of a heavy industrial robot of the Kuka family.
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Acknowledgments
The work presented in this paper was partially funded by the ANR, France (Project ANR-2010-SEGI-003-02-COROUSSO) and Project ANR ROBOTEX. The authors also thank Fabien Truchet, Guillaume Gallot, Joachim Marais and Sbastien Garnier for their great help with the experiments.
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Klimchik, A., Caro, S., Wu, Y., Chablat, D., Furet, B., Pashkevich, A. (2014). Stiffness Modeling of Robotic Manipulator with Gravity Compensator. In: Thomas, F., Perez Gracia, A. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 15. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7214-4_21
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DOI: https://doi.org/10.1007/978-94-007-7214-4_21
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