Joint Stiffness Estimation Based on Force Sensor Measurements in Industrial Manipulators

[+] Author and Article Information
G. Ferretti, C. Maffezzoni, G. Magnani, P. Rocco

Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133 Milano, Italy

J. Dyn. Sys., Meas., Control 116(1), 163-167 (Mar 01, 1994) (5 pages) doi:10.1115/1.2900673 History: Received January 25, 1993; Online March 17, 2008


The problem of estimating the stiffness constants of the joints in industrial manipulators is addressed in this paper. It is shown that the model of the robot constrained by a rigid environment yields a simple relationship between variations of the motor coordinates and the forces arising at the contact with the environment. By exploiting the measurements of the motor positions sensors and of a force sensor located at the end effector a method is proposed to simply compute good estimates of the stiffness constants. Experiments have been made on the industrial robot SMART and the results are given and discussed.

Copyright © 1994 by The American Society of Mechanical Engineers
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