Stiffness modeling of robotic manipulator with gravity compensator

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.

Domaines

Robotique [cs.RO]

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Stiffness_modeling_of_robotic_manipulator_with_gravity_compensator_v01.pdf (334.62 Ko)

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https://hal.science/hal-00909555

Soumis le : mardi 26 novembre 2013-17:03:47

Dernière modification le : mardi 17 septembre 2024-15:54:51

Archivage à long terme le : jeudi 27 février 2014-09:51:19

Dates et versions

hal-00909555 , version 1 (26-11-2013)

Identifiants

HAL Id : hal-00909555 , version 1
ARXIV : 1311.6751
DOI : 10.1007/978-94-007-7214-4_21

Citer

Alexandr Klimchik, Stéphane Caro, Yier Wu, Damien Chablat, Benoît Furet, et al.. Stiffness modeling of robotic manipulator with gravity compensator. Thomas F.; Perez Gracia A. Mechanisms and Machine Science, 15, Springer, Dordrecht, pp.161-168, 2014, 978-94-007-7213-7. ⟨10.1007/978-94-007-7214-4_21⟩. ⟨hal-00909555⟩

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