Stiffness Model Reduction for Manipulators with Double Encoders: Algebraic Approach

Abstract

To compare the proposed techniques with the experimental approach, the robot deformation under load is simulated and the tool displacement is estimated. It is shown that both approaches are equivalent in terms of accuracy. While the experimental method is easier to implement, the algebraic approach allows analyzing the contribution of each link in a reduced model of elasticity. Besides, the obtained estimate of the parameters does not depend on the accuracy of measurements and configurations used in the identification process.

Elasto-Geometrical Model-Based Control of Industrial Manipulators Using Force Feedback: Application to Incremental Sheet Forming

“…Another use of position feedback is to perform deformation-tracking impedance control coupled with an Extended Kalman Filter [10]. Other research studies use proprioceptive sensors such as double encoders on each joint to measure the angular displacement before and after the motorized body [11,12]. This technique only compensates for the elasticity of the actuated joints and implies a specific robotic design to integrate the second encoder on each joint.…”