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Weak stiffness and insufficient kinematic accuracy of industrial robot obstruct its application in precision machining. Before enhancing machining accuracy by introducing stiffness compensation model, the influence of robot weak stiffness on machining accuracy should be identified. This paper presents an evaluation on the spatial stiffness behavior of end effector by varying joint angles. The coupling...
Singularity is a fundamental problem with robot manipulators, and limits its capability to complete its task. In this paper, a “singularity separation plus exponential damped reciprocal” method is presented and its implementation issues is discussed. The singularity factor is separated from the inverse Jacobian matrix, and modified with the exponential damped reciprocal. Therefore, it doesn't require...
Robot calibration is an important method to improve robot accuracy. Optimal measurement configurations for robot calibration are helpful to reducing measure points, and save time consume. In this paper, a hybrid optimal method was proposed, and the measuring configurations for a six degree-of-freedom industrial robot calibration were selected based on the proposed algorithm. First, the robot error...
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