The article focuses on stiffness modeling of manipulators with gravity compensators. Particular attention is paid to the impact of different types of gravity compensators and gravity compensation algorithms on the manipulator behavior under external loading. The issues of model parameters identification from experimental data are also considered. The validity of presented study was tasted on real industrial robots, corresponding experimental results are presented.
Stiffness Modeling for Gravity Compensators
Mechan. Machine Science
19.03.2022
45 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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