Stiffness modeling of robotic manipulator with gravity compensator
This work addresses stiffness modeling for heavy industrial robots with gravity compensators, but it appears incremental as it builds on existing methods for specific robotic systems.
The paper tackled stiffness modeling for robotic manipulators with gravity compensators by developing a model for a spring-based compensator between links, treating it as an equivalent non-linear virtual spring in the joint, and applied it to a Kuka industrial robot.
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.