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AN EXPERIMENTAL APPROACH TO IMPROVING THE JOINT STIFFNESS OF INDUSTRIAL ROBOTS THROUGH DEXTEROUS POSTURE IDENTIFICATION

Article scientifique 2021 Anglais

Résumé

Improving a robot’s posture enables it to perform with greater accuracy and repeatability. A stiffer posture also protects the robot from unnecessary vibrations and deflections that may be induced by an applied load. This paper presents a method for choosing high stiffness robot postures. The method is demonstrated on a six-degree-of-freedom Fanuc M10-iA serial manipulator. The posture identification and stiffness modelling were achieved by a reliable and cost-effective alternative to deflection measurement using IEPE accelerometers.

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Singh, A., Padayachee, J., Bright, G. (2021). AN EXPERIMENTAL APPROACH TO IMPROVING THE JOINT STIFFNESS OF INDUSTRIAL ROBOTS THROUGH DEXTEROUS POSTURE IDENTIFICATION. https://doi.org/10.7166/32-4-2590

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Auteur(s)

Akshay Singh Jared Padayachee Glen Bright

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