Joint Stiffness Identification of a Heavy Kuka Robot with a Low-cost Clamped End-effector Procedure

A. Jubien, G. Abba, M. Gautier

2014

Abstract

This paper proposes two new methods for the identification of static stiffnesses of multi degrees of freedom heavy industrial robots. They are based on a locked link joint procedure obtained with an end-effector fixed to the environment. The first method requires only measurements of motor positions and motor torques data computed from motor current measurements and manufacturer's drive gains. The second one needs a torque sensor to measure the interaction wrench between the clamped end-effector and the environment. These methods are being experimentally validated and compared on the 2 first joints of a 6 degrees of freedom heavy 500Kg payload industrial Kuka KR500 robot.

Paper Citation

in Harvard Style

Jubien A., Abba G. and Gautier M. (2014). Joint Stiffness Identification of a Heavy Kuka Robot with a Low-cost Clamped End-effector Procedure . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 585-591. DOI: 10.5220/0005115805850591

in Bibtex Style

@conference{icinco14,
author={A. Jubien and G. Abba and M. Gautier},
title={Joint Stiffness Identification of a Heavy Kuka Robot with a Low-cost Clamped End-effector Procedure},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={585-591},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005115805850591},
isbn={978-989-758-040-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Joint Stiffness Identification of a Heavy Kuka Robot with a Low-cost Clamped End-effector Procedure
SN - 978-989-758-040-6
AU - Jubien A.
AU - Abba G.
AU - Gautier M.
PY - 2014
SP - 585
EP - 591
DO - 10.5220/0005115805850591