Stiffness modeling of robotic manipulator with gravity compensator

Alexandr Klimchik (1, 2) , Stéphane Caro (2) , Yier Wu (1, 2) , Damien Chablat (2) , Benoît Furet (3) , Anatol Pashkevich (1, 2)

1 Mines Nantes - Mines Nantes
2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
3 Modélisation et Optimisation de Process de Production (MO2P)

The paper focuses on the stiffness modeling of robotic manipulators with gravity compensators. The main attention is paid to the development of the stiffness model of a spring-based compensator located between sequential links of a serial structure. The derived model allows us to describe the compensator as an equivalent non-linear virtual spring integrated in the corresponding actuated joint. The obtained results have been efficiently applied to the stiffness modeling of a heavy industrial robot of the Kuka family.

Domaines: Robotique [cs.RO]

Alexandr Klimchik, Stéphane Caro, Yier Wu, Damien Chablat, Benoît Furet, et al.. Stiffness modeling of robotic manipulator with gravity compensator. Thomas F.; Perez Gracia A. Mechanisms and Machine Science, 15, Springer, Dordrecht, pp.161-168, 2014, 978-94-007-7213-7. ⟨10.1007/978-94-007-7214-4_21⟩. ⟨hal-00909555⟩