Abstract

SINGH, A.P.; PADAYACHEE, J.  and  BRIGHT, G.. An experimental approach to improving the joint stiffness of industrial robots through dexterous posture identification. S. Afr. J. Ind. Eng. [online]. 2021, vol.32, n.4, pp.113-128. ISSN 2224-7890.  http://dx.doi.org/10.7166/32-4-2590.

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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