Robot Joint Modeling and Parameter Identification Using the Clamping Method

Continuous-time gray-box identification of mechanical systems using subspace-based identification methods

“…For modeling of configuration-dependent robot compliance dynamics, linear parameter-varying models can also be considered. Moreover, a method for identification of the nonlinear static stiffnessrelationship using an inexpensive measurement setup has been proposed [30].…”

Particle filter framework for 6D seam tracking under large external forces using 2D laser sensors

“…This problem can be mitigated by a compliance model, C j (τ ) in Eq. 5, reducing the uncertainty to the level of the model uncertainty [3].…”

“…where C j (τ ), if available, is a model of deflections caused by large process forces [3], [5], [6]. The uncertainty in the robot measurement comes from several sources.…”

“…A typical approach adopted to reduce the uncertainty introduced by deflections is stiffness/compliance modeling [1], [2], [3], [4]. This amounts to finding models of the joint deflections ∆q or of the Cartesian deflections ∆x on one of the forms ∆q = C j (τ )…”

“…Robotic compliance modeling has been investigated by many authors, where the most straightforward approach is based on linear models obtained by measuring the deflections under application of known external loads. To avoid the dependence on expensive equipment capable of accurately measuring the deflections, techniques such as the clamping method have been proposed [3], [5], [6] for the identification of models on the form (1). This approach makes the assumption that deflections only occur in the joints, in the direction of movement.…”